A method of map building for robots in unknown indoor environments

A new method of map building is presented for mobile robots in unknown indoor environments. It combined Internal Spiral Coverage (ISC) algorithm, A* algorithm and wildfire algorithm to build the map in unknown indoor environments. The rasterization of sensor detection zone can improve the accuracy of map building which is affected by the error of the sensor data. Once an obstacle is explored, the robot will immediately go around it to identify. Simulation results show that the proposed method of map building is very effective in different indoor environments.