How to build a map of the probability of one of the absence and presence of obstacles in an autonomous robot

摘要

The present invention relates to a method for calculating a pixel map of the probability of one of the absence and presence of an obstacle in an autonomous robot environment. The autonomous robot includes at least one sensor grouped in at least one set of sensors that detect similar types of obstacles and has its own sensor initial map of the probability of the absence of obstacles. The method initializes a map around the robot and attached to the robot with a predetermined value of the probability of the absence or presence of obstacles, and at least data representing the absence or presence of obstacles around the robot The process of obtaining from one sensing procedure, the process of simultaneously updating the probability value by using data from the sensing procedure, and correcting the probability of the absence or presence of an obstacle from the previous observation to a value close to a predetermined value Including the step of.