Path planning for mobile robot localisation and mapping

The path followed by a mobile robot plays an important role in the quality of localisation and mapping. The localisation and mapping problem can be put into an estimation framework. The estimator should be supplied with a sufficient amount of information and to extract the information in an efficient way. These requirements depend on the relative geometry between the robot and landmarks in the workspace. Therefore, a path to be followed by the robot is required to be planned. The evolutionary search with multiobjective Pareto optimisation approach is adopted here to obtain a near-optimal one-step-ahead robot pose in order to improve the localisation and mapping quality. Simulation results are included to demonstrate the effectiveness of the proposed approach.