Map generation and renewing for a mobile office robot

摘要

To build mobile robots working in human living space, we are in need of new methods different from those that were worked out mainly for structured environments. In the paper, we propose a new mobile robot system aimed to be used in a real office. It has two functions: 1) automatic map generation and renewing, and 2) robust navigation by using the map. In particular, a sonar sensing algorithm is developed to detect changes in object configurations in such an environment.