| CPC G05D 1/0274 (2013.01) [G05D 1/0246 (2013.01)] | 19 Claims |
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1. A method, performed by a cleaning robot, of obtaining a map of an indoor space, the method comprising:
searching the indoor space at a first location of the cleaning robot by using at least one sensor of the cleaning robot;
obtaining a grid map comprising a searched area, which has been searched at the first location, and at least one unsearched area, which has not been searched at the first location;
detecting a first unsearched area from among the at least one unsearched area at a shortest distance from the first location;
detecting, by using an obstacle detection sensor, a plurality of obstacles around the first unsearched area;
determining, as a travel destination, based on a result of comparing a distance between the plurality of obstacles and a width of the cleaning robot, the first unsearched area among the at least one unsearched area;
obtaining area information comprising at least one of geometry information, structure information, or obstacle information about the first unsearched area while moving the cleaning robot from the first location to the first unsearched area;
updating the grid map by using the obtained area information; and
storing, in a memory of the cleaning robot, the updated grid map when the cleaning robot approaches a charging station within a preset threshold distance.
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