Map-Making with a Four-Legged Mobile Robot

Robots and Robot Venues: Resources for AI Education

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Robots and Robot Venues: Resources for AI Education

Contents

Most approaches to map-making with an autonomous mobile robot rely on a set of standard tools, such as laser range finders, sonar arrays, precise shaft encoders, or GPS uplinks. While it is difficult to construct a map without such tools, there is still utility in endowing low-cost, legged robots with map-making capabilities in order to exploit their unique advantages. This paper describes an attempt to construct a recognizable map of an indoor hallway environment with a Sony ERS-7 AIBO outfitted with suboptimal mapping components.