All, I've got my map modelling program working great, with guided help from me, and with the robot tracing around the boundary of the room (I'm controlling it) it makes a really good map of the environment. However...
That's not really much good as I was to be able to switch it on and send it off to make a map for itself. Which leads me onto these problems:1) How should the robot move when building the map/what method are there for moving a robot in this phase? 2) How will it know when the map is sufficiently built and then prehaps revert to a localisation/map update algrothim.
The only vague lead I have is Lee's Algorithm, which I haven't been able to find out much about, most likely because I'm not typing in the right questions in the search engines. There's a lot of talk of using it, but not so much on how it's use/the algrothim itself.
Any techniques/references would be most useful, not just Lee's Alg but anything else which addresses the same issues.