A practical exploration approach applied to robot simultaneous localization and map building process

The mobile robot's ability to explore the entire environment is one of the critical components of mapping an unknown environment. This becomes challenging when the mobile robot experiences positioning error and some sensor noises. In this paper, a novel approach called FRT is presented to solve this problem. Moreover, the multi-sensor information is fused using Dempster-Shafer theory to keep the FRT algorithm robust. In addition to developing this new algorithm, we validate our FRT approach experimentally in a corridor environment and the results demonstrate the performance of the approach.