Grid mapping adaptive to various map sizes for Sbot

Grid mapping is a fundamental mapping algorithm in the mobile robotics. This paper proposes an indoor grid mapping technique which is adaptive to various map size. Rao-Blackwellized Particle Filters (RBPF) have been used to build a map. Each mapping procedures has the different number of particles. Small area uses more particles than large area. The suitable number of particles can improve the map quality and leads to low computation cost. Experiments have been conducted with unmanned delivering robot named Sbot. It is equipped with laser scanners and sonar sensors. We demonstrated the mapping system in different indoor environments and proved its efficiency.