抄録
Accurate positioning of a mobile robot and accurate and reliable measurements of surroundings are indispensable for an automated construction of an environment map using a mobile robot. However, the accuracy of conventional positioning methods such as dead reckoning or the use of several landmarks is not high in an unknown and rough environment. To overcome this problem, we have proposed a method named "Cooperative Positioning System (CPS)" , which enables to localize robots with high accuracy even in an unknown and rough environment. This paper proposes the combined system of the CPS and a laser range finder to construct highly reliable environment map. The fifth CPS model named CPS-V and experimental results in a large scaled and unknown environment are introduced.
