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Many mobile robots use maps for path planning. However, due to changes of obstacle configurations in the environment, utility of the map is often deteriorated. In this paper, we address a problem of map updating task, where a robot automatically explores the environment to update a map. Map updating task is different from well known map making task in that the robot can estimate global structure of the environment by using the initial map. This enables a map updating robot to take into account possible map users, and to estimate utility of a map for them. We propose a method for motion planning in the task, for quickly increasing utility of a map. We also describle an algorithm to execute the planning in a practical computing time. A number of experiments have been performed in various environments and changes, to demonstrate the effectiveness of the method.

Motion Planning in a Map Updating Task by Considering Utility of a Map