Laser Based Cooperative Multi-Robot Map Building for Indoor Environments

Abstract

In this chapter a cooperative map-building scenario in a small experimental area with multiple robots is implemented. In this scenario, all the robots enter the area in a sequential manner from the same entry point, which serves as the origin for the localization information. The robots cooperatively perform division of labor such that one of the robots follows the right wall, another robot follows the left wall in order to extract the map of the outskirts of the closed environment, while the remaining robots navigate and extract the map of the interior. A base station constructs a 2D map of the environment using the data from all the robots. Artificial potential functions are used in implementation in order to control the movement of the robots and guarantee collision avoidance with obstacles or other robots.