Abstract
In this paper, we address the problem of representing dynamic environment as accurately as possible using inexpensive and error-prone sonar sensors. For a robot which should move to a goal with avoiding dynamic obstacles, the robot should have a capability to build a map which represents dynamic environment as exactly as possible. Under the necessity, we propose an efficient and accurate grid-mapping approach that is based on the sound pressure; we call the map the sound pressure map. The performance of the sound pressure map was confirmed through real experiments. Even with using sonar sensors, the sound pressure map can build the best grid map in terms of representing dynamic environment.
