DEVELOPMENT AND IMPLEMENTATION OF ALGORITHMS IN A POPULATION OF COOPERATIVE AUTONOMOUS MOBILE ROBOTS
Molaletsa Namoshe, CM Kumile, Nkgatho Sylvester Tlale · 2007
An increase in the number of mobile robot users has lead to the design and implementation of cooperati ve autonomous mobile robots. Autonomous robots require the ability to build maps of an unknown environment while simultaneously using these maps for navigatio n. The main factor in multiple mobile robots is tha t a team of smaller and simpler mobile robots can outpe rform a single, large and complex robot. The paper treats localization and map building as a joint probability, i.e. while robots navigate they localize and build local maps. These local maps from each ro bot in the team are fused into a global map at some instances during navigation. Cooperative simultaneo us localization and map building (C-SLAM) implemented by Extended Kalman Filter (EKF) algorithms are proposed towards task manipulation in a multirobot set up. The article entails modelling a multiple mobile rob ot system, in order to understand robot population communication and cooperation within an operational environment.