Active manoeuvres for supporting the localisation process of an autonomous mobile robot

摘要

Current localisation techniques can become unstable if the robot drives in such a way that it becomes very difficult to sense its environment. An approach is presented that supports the data acquisition for the localisation process of an autonomous robot by well-aimed manoeuvres. These manoeuvres are carried out while the robot is executing an arbitrary user defined task (e.g. delivering mail). The mediation between the different tasks -localisation and user defined mission -is performed by analysing the estimated benefits and costs of each task and selecting the optimal manoeuvre. Simulation results have shown that the overall localisation stability was improved significantly.