Building a map including moving objects for mobile robot navigation in living environments

Abstract

This paper presents a method for building a map of a living environment, which includes the movement of moving objects, intended for mobile robot navigation. If a robot can generate a path to move to a destination by considering the working area of humans, the robot can avoid crossing those areas. Then, it can be expected that the robot will reach the destination efficiently and people's activities will not be hindered. We present a method for building a map that represents both static and moving objects.