Mobile robot unknown indoor environment exploration using self-localization and grid map building

this paper present an approach for unknown indoor environment exploration with simultaneous localization and mapping, the approach address the problem of exploration unknown indoor environments based on robot mobile moving and sonar scanning. The measurements given by the odometry system, update for the self-localization. The map building process maintaining two map grids: (1) map grid models the occupancy of the environment (OM), (2) map grid memorize the robot trajectory(TM). The use of the two grid maps provides an efficacy description and use of the environment information over time. Results in simulation and real robots experiments using random exploration show the efficacy of our approach.