Effect of global position information in unknown world exploration - A case study using the Teleworkbench

Authors:
Safaa Amin;Andry Tanoto;Ulf Witkowski;Ulrich Rückert;M. Saied Abdel-Wahab
Affiliations:
System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, D-33102 Paderborn, Germany;System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, D-33102 Paderborn, Germany;System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, D-33102 Paderborn, Germany;System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, D-33102 Paderborn, Germany;Faculty of Computer and Information Sciences, Ain Shams University, Cairo, Egypt
Venue:
Robotics and Autonomous Systems
Year:
2009

Citing 1
Cited 0

Coordination for Multi-Robot Exploration and Mapping

Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence

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Abstract

This paper presents empirical results of the effect of the global position information on the performance of the modified local navigation algorithm (MLNA) for unknown world exploration. The results show that global position information enables the algorithm to maintain 100% success rate irrespective of initial robot position, movement speed, and environment complexity. Most mobile robot systems accrue an odometry error while moving, and hence need to use external sensors to recalibrate their position on an ongoing basis. We deal with position calibration to compensate the odometry error using the global position information provided by the Teleworkbench, which is a teleoperated platform and test bed for managing experiments using mini-robots. In this paper we demonstrate how we incorporate the global position information during and after the experiments.