Mapping an operating environment to locate a robot, including traversing optical data and updating that data

摘要

Disclosed is a method of mapping an operating environment to facilitate localisation of a robot. The method comprises: acquiring optical data at a scan point associated with a partial map representing a portion of the environment; identifying features of the portion and associating identified features with the map; traversing the portion represented by the map; acquiring additional optical data; updating the map responsive to the traversing and the additional data; computing a location of the robot in the environment by determining an average position and angle for particles selected in accordance with the data; and selectively repeating the traversing, the acquiring additional data, and the updating so as to avoid-revisiting areas that have already been mapped. The updating comprises using the average position and angle for all of the particles.