Advances on Map Building with Mobile Robots in Dynamic Environments
Jinxia Yu · Control Engineering of China · 2007
Most existing map building methods for mobile robots are based on the assumption of static environments,while the working environments of mobile robots in real applications change over time.Advances on map building with a mobile robot in dynamic environments are overviewed.Various methods of detecting moving obstacles for a mobile robot such as map-based,motion-based and track-based methods are introduced.Approaches to map building in dynamic environments with a mobile robot which filter out and integrate sensor observations of moving obstacles are analyzed and their advantages and disadvantages are further summarized.The difficult issues of map building with a mobile robot in dynamic environments are discussed and future research of this field is also proposed.