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To address this problem, we establish an object search framework that combines navigation map, semantic map, and scene graph. The robot updates the scene graph to achieve a long-term target search. Considering the different start positions of the robots, we weigh the distance the robot walks and the probability of finding objects to achieve global path planning. The robot can continuously update the scene graph in a dynamic environment to memorize the position relation of objects in the scene. This method has been realized in both simulation and real-world environments. The experimental results show the feasibility and effectiveness of this method.<\/jats:p>","DOI":"10.1017\/s0263574722001205","type":"journal-article","created":{"date-parts":[[2022,8,22]],"date-time":"2022-08-22T10:28:40Z","timestamp":1661164120000},"page":"962-975","source":"Crossref","is-referenced-by-count":15,"title":["Long-term object search using incremental scene graph updating"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3131-8973","authenticated-orcid":false,"given":"Fangbo","family":"Zhou","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huaping","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huailin","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lanjun","family":"Liang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2022,8,22]]},"reference":[{"key":"S0263574722001205_ref8","unstructured":"[8] Masutani, Y. , Mikawa, M. , Maru, N. and Miyazaki, F. , \u201cVisual Servoing for Non-Holonomic Mobile Robots,\u201d In: IEEE\/RSJ\/GI International Conference on Intelligent Robots & Systems 94 Advanced Robotic Systems & the Real World (2002)."},{"key":"S0263574722001205_ref35","first-page":"886","volume-title":"Proceedings 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)","author":"Lenser","year":"2003"},{"key":"S0263574722001205_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5648920"},{"key":"S0263574722001205_ref22","first-page":"4247","article-title":"Object goal navigation using goal-oriented semantic exploration","volume":"33","author":"Chaplot","year":"2020","journal-title":"Adv. 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