Analysis of Tolerances in Robotic Mapping of Buildings

Autonomous map making is becoming a widely used tool in robotics for various applications. One of the major problems to be dealt with in the development of this tool is the tolerance of coordinates obtained of mapping. This paper presents an analysis of tolerances of a map created by a robot of 6 articulated finder for horizontal and vertical rotational scanning. The analysis shows that two parameters are the main factors affecting the tolerances of the map: 1) orientation of the carriage on which the robot is mounted, and 2) distance between the sensor and the walls being scanned. Three main conditions need to be satisfied in order to achieve coordinate tolerances not worse than 3cm are: 1 carriage orientation accuracy of atleast 0.1⁰; 2. Carriage location accuracy of atleast 1 cm; 3. Distance of not more than 3m between the sensor and the walls being scanned.