Exact dynamic map building for a mobile robot using geometrical primitives produced by a 2D range finder

In this paper a new mathematically exact algorithm is described for dynamic map building with geometrical primitives for a mobile robot. The dynamic map is built up using a 2D range finder mounted on the mobile robot LiAS which is navigating in the environment. The dynamic map can be used for either planning or localisation purposes. The map is composed of line segments and circles. The parameters describing the geometrical primitives are provided with uncertainties which are used in the matching phase and which are necessary if the map is used for localisation. This paper describes in detail how the uncertainty on the robot position and the uncertainty on a single range measurement leads to the uncertainty on the parameters of a geometrical primitive. Promising experimental results obtained by the algorithm in real unstructured environments are presented