Robot Goes Back Home Despite All the People

We have developed a navigation system for a mobile robot that enables it to autonomously return to a start point after completing a route. It works efficiently even in complex, low structured and populated indoor environments. A point-based map of the environment is built as the robot explores new areas; it is employed for localization and obstacle avoidance. Points corresponding to dynamical objects are removed from the map so that they do not affect navigation in a wrong way. The algorithms and results we deem more relevant are explained in the paper.