UNCERTAIN INFORMATION BASED MAP-BUILDING OF MOBILE ROBOTS IN ABSOLUTELY UNKNOWN ENVIRONMENT

摘要

Autonomous map building of mobile robots is a fundamental and important problem in research on robotics. This paper surveyed the lasted progress in the field, specially uncertain information based map building in absolutely unknown environment. Map building's method for single robot is first introduced, and some key techniques are analyzed in detail, such as map representation, navigation, description and process of uncertain information. Map building by multi robot's collaboration is introduced according the newest literatures, too. The main problems on map building research are mentioned, in the meanwhile, the further research and development trends are discussed.