Exploring Unknown Environment using Position Correction based on Explored Information in Multi-robot Teleoperation

This paper deals with the human interface for multi-robot teleoperation. Some operators can recognize surrounding environment easily and teleoperate multiple robots through this interface. The environmental map in the interface is created based on the belief measure and the dependability acquired from multi-robot´s sensors. However, created environmental information is influenced by the position error, sensor error, calculation error and so on. Especially, the position error has a great influence on the creation of the explored map. In this paper, a method for correcting position error is proposed. By using the environmental information, the position of the robot which is influenced by the position error is corrected. We aim to build the more reliable environmental map by correcting position error of robot. For showing the effectiveness of the proposed position correction method, real experiment with three mobile robots are executed