Reducing odometry error through cooperating robots during the exploration of an unknown world.

摘要

We consider how to cover and map an initially unknown environment using two (or more) mobile robots. Most mobile robot systems accrue odometry error while moving, and hence need to use external sensors to recalibrate their position on an ongoing basis. Unfortunately, most sensing systems are constrained with respect to the types of environment in which they are suitable. We deal with position calibration and odometry error by using multiple robots for exploration. This allows them to use one another as landmarks. We consider how exploration can be efficiently accomplished and how a large environment can be divided and conquered. 1 1 Introduction Several interesting potential applications of robotics technology would benefit from the use of mobile robotic systems. This, in turn, suggests the need for mobile robot systems that can explore an environment and automatically build an internal model of a map of where they can go and where objects are located. The applications for such syst...