Method and apparatus for constructing an environment map of a self-propelled, mobile unit

A method for producing a cellularly structured environment map of a self-propelled, mobile unit which orients itself in the environment with the assistance of sensors based on wave reflection, said method comprising the steps of:

• measuring a distance using a sensor in at least one measuring cycle of a plurality of measuring cycles, said distance being between the sensor and an environmental object and a position thereof being defined in a plurality of cells located on a circular arc segment with the sensor as mid-point of the arc and the distance as radius, whereby the circular arc segment is limited by the aperture angle of a conical wavefront emanating from the sensor;
• arbitrarily selecting one of the first cells;
• positively incrementing an occupancy degree of the selected first cell, when an environmental object is present, lying on the circular arc segment dependent on a respective measuring cycle of the plurality of measuring cycles;
• and
• negatively incrementing the occupancy degree, insofar as such an occupancy degree is present, of cells other than the selected first cell that is located within the circular sector that is defined by the aperture angle of the wavefront and the circular arc segment.