Occupancy Grid Mapping and Target Neutralization Using Two Robots
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Uploaded by maklinchi on Dec 30, 2010
This video shows two robots that map an indoor environment, and identify, locate and neutralize static targets. The robots communicate with a base station displaying the built map, robot position and trajectory, and onboard camera view. They neutralize static targets by pointing to the targets using a laser pointer for more than 10 s. They perform real-time simultaneous localization and mapping (SLAM), high-level control using frontier-based path planning and low-level control using P-controllers, while sending sensor data and local maps to the base station. The base station combines all local maps and displays the map and sensor data to human operators. The base station successfully monitors the robots and constructs a map of the indoor environment.
Each robot, which is of a four-wheel drive differential-steering design, carries various sensors, including a GPS receiver, an IMU, a compass and a SICK laser range finder.
More details of the robot and research in CMS@VT can be found in http://www.cmsvt.org/muv
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