Mobile robot: Simultaneous localization and mapping of unknown indoor environment

Abstract

This paper presents an approach for unknown indoor environment exploration using a simultaneous localization and mapping system. The approach addresses the problem of unknown indoor environments exploration, based on robot mobile moving and sonar scanning. The measurements given by the localization system (odometry for the test system), update for the robot self-localization. The map building process maintaining two grid maps: (1) map grid models the environment occupancy (OM), (2) map grid memorize the robot trajectory(TM). The use of two grid maps provides an efficacy description and use of the environment information over time. Results in simulation and real robots experiments using random exploration show the fusibility of our approach.