Automatic Mapping of an Enclosure Using a Mobile Robot

摘要

Abstract An autonomous mobile robot moving through an unknown environment needs to be able to locate itself accurately and, at the same time, build a map of its surroundings. This paper investigates the design and implementation of an enclosure mapping algorithm based on the odometry and image acquisition features of the Festo Robotino mobile robot. Simulation and experimental results are provided to support the proposed algorithm.