A Methodology for the Generation of the 2-d Map from Unknown Navigation Environment by Traveling a Short Distance

In this paper a methodology is presented for the generation of a 2-D map from an unknown navigation environment by traveling a short distance. The methodology proposed here is based on the synthesis of the knowledge extracted from consecutive free navigation spaces, during the movement of an autonomous mobile robot. The generation of the 2-D map of the space is classified into three cases: (a) space without obstacles; (b) space with standing obstacles; and (c) space with moving obstacles.