Observation Planning Methods for Map Updating Tasks

Abstract

In a dynamic environment, maps become outmoded unless they are updated from time to time. While map making has received considerable attention in the literature of robotics research, less attention has been paid to map updating. This paper will present an algorithm for map updating by autonomous mobile robots based on prediction of changes in the environment. Map updating problem can be characterized as a sequential decision problem. At each step, the robot searches the environment by using range sensor, decides next observation location and goes to the location. It is not practical to plan an entire observation route. since the robot will encounter with so many changes in the work space. The method predicts the work space and segments it into some subregions so that each subregion will contain less changes. Then, the solution is obtained from subproblems of finding shorter routes in subregions. To search candidates of next robot action efficiently, the method employs path graph. Consequently, suitable solutions are found very quickly.