No.2（2007）6.Mapping and localization for mobile robot in semi-dynamic environment

Hongjun Zhou, Shigeyuki Sakane

Mapping and localization play important roles for autonomous mobile robots. Since most of the conventional mapping methods assume a static environment, the obtained map lacks reliability for localization when a real environment violates the assumption. In this paper, we deal with mapping in environments containing semi-dynamic objects such as cabinets with wheels, chairs, and doors which can be moved occasionally. We propose SLAM-SD, an extended SLAM method for semi-dynamic environments, which allows simultaneous localization of a robot, mapping of the environment, and localization of semi-dynamic objects. The method can update an occupancy grid map properly when semi-dynamic objects have been moved. We conducted experiments using a mobile robot equipped with a LRF and an IC tag reader. The results show the effectiveness of the SLAM-SD.

Keywords

mobile robot, mapping, localization, semi-dynamic environment, IC tag

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