method for producing a cellular structured map of a selbstbeweglichen mobile unit, which is help to wellenreflexion based sensors in the environment oriented

摘要

The entry and the deletion of the degree of occupancy values in cellularly structured environment maps of autonomous mobile units is improved with the method. Dependent on the measuring directions of ultrasound sensors, different sectors in which the degrees of occupancy value are separately incremented are defined for each cell of the cellularly structured environment map. This has the advantage that an obstacle measured by different sensors only leads to an incrementation or a de-incrementation of the occupancy degree of a respective cell when this measurement ensued from the same measuring direction with respect to the cellularly structured environment map. Dynamic objects in the measurement area of the autonomous mobile unit can thus be more quickly deleted from the map and timeout measurements that have arisen due to reflections of echos do not lead to really existing objects being deleted from the map.