Multi-robot exploration of an unknown environment, efficiently reducing the odometry error

摘要

This paper deals with the intelligent exploration of an unknown environment by autonomous robots. In particular, we present an algorithm and associated analysis for collaborative exploration using two mobile robots. Our approach is based on robots with range sensors limited by distance. By appropriate behavioural strategies, we show that odometry (motion) errors that would normally present problems for mapping can be severely reduced. Our analysis includes polynomial complexity bounds and a discussion of possible heuristics. 1 1 Introduction The problem of exploring an unknown environment and constructing a map is central to mobile robotics. The ability to build an internal representation of the environment is also critical to most intelligent organisms. Existing approaches that have been proposed for this problem range from idealized solutions involving perfect virtual robots to practical solutions of indeterminate complexity with real robots. The range of environment and terrain ty...