Building a map including moving objects for mobile robot navigation in living environments

This paper presents a method for building a map of a living environment, which includes the movement of moving objects, intended for mobile robot navigation. If a robot can generate a path to move to a destination by considering the working area of humans, the robot can avoid crossing those areas. Then, it can be expected that the robot will reach the destination efficiently and people´s activities will not be hindered. We present a method for building a map that represents both static and moving objects.