SIMULTANEOUS LOCALIZATION AND MAPPING

A method for simultaneous localization of a movable robot and mapping by the robot of an object in a zone. The method comprises providing the robot with at least a distance measurement sensor, whereby the robot is enabled to detect the object by means of the at least one distance measurement sensor; execute a wall following algorithm enabling to lead the robot around the object based on a plurality of measurements made with the at least one distance measurement sensor, along a first circumnavigated path obtained by the wall following algorithm, hence causing the robot to travel between a plurality of successive positions around the object; collect the plurality of measurements from the at least one distance measurement sensor while the robot is at the respective successive positions on the first circumnavigated path; aggregate the plurality of measurements taken respectively at the plurality of successive positions into an initial local snapshot of the zone, thereby obtaining a scanned shape of the object after each first circumnavigation; constructing a determined path from the first circumnavigated path, whereby the determined path is intended to lead to robot around the object on subsequent circumnavigations; lead the robot on the determined path on subsequent circumnavigations; position the robot at further determined positions on the determined path during the subsequent circumnavigations; collect further measurement from the at least one distance measurement sensor while the robot is at the further determined positions: aggregate the further measurements into further local snapshots of the zone for each of the subsequent circumnavigations; and perform a scanmatch algorithm for each of the further local snapshots with the initial local snapshot to determine what is the real position of the robot with respect to the object.