In the presented paper an algorithm of effective updating of the environment map is described. The mobile robot uses information from ultrasound range finder for local map building. The range finder operates in robot's frame of reference which changes its "absolute" position with respect to the environment as the robot moves. The map of environment must not depent on the robot position therefore all range finder information must be transformed into the environment frame of reference. It is hsown that under special conditions an invariant fixed point exists which may be used for simplifying the calculations.
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