ABSTRACT
The use of mobile robots in various areas is today a reality. Initially used in industrial environments and by military organizations, their use has been extended to domestic use, such as cleaning robots or assistance of disabled persons, but also in public buildings such as museums, serving as guides for the visitors. These applications all have in common the fact that they are indoor environments. In this type of environments the robot must be autonomous by being able to fulfill a navigational task, which involves reaching a goal, by exploring the environment with no human intervention, while at the same time avoiding obstacles. To be autonomous, the robot must be able to compute and update three parameters (x, y, θ ), which define position (it is assumed the robot travels on a plane at a constant height, which is the case in the majority of indoor environments) and orientation, respectively, relative to a fixed global frame.
