A mapping method of a mobile robot that conducts mapping using at least one or a plurality of an environmental sensor node, the mapping method comprising: acquiring first map information created in advance, including information about a surrounding area of the mobile robot; acquiring second map information including information about the surrounding area of the mobile robot by an external sensor onboard the mobile robot; characterized by receiving third map information including information about the surrounding area of the mobile robot from the environmental sensor node; (i) in the third map information, if information exists about a place in which an amount of change over time is equal to or greater than a certain threshold value, conducting a removal process of removing information about a place in the first map information and information about a place in the second map information that correspond to the place in which the amount of change over time is equal to or greater than the certain threshold value in the third map information, or alternatively, conducting a variance-increasing process of increasing a variance of each of information about a place in the first map information and information about a place in the second map information that correspond to the place in which the amount of change over time is equal to or greater than the certain threshold value in the third map information; (ii) matching the first map information and the second map information after being subjected to the removal process or the variance-increasing process, and generating map information based on the matching result; and (iii) updating the first map information to the map information generated based on the matching result. acquiring first map information created in advance, including information about a surrounding area of the mobile robot; acquiring second map information including information about the surrounding area of the mobile robot by an external sensor onboard the mobile robot; characterized by receiving third map information including information about the surrounding area of the mobile robot from the environmental sensor node; (i) in the third map information, if information exists about a place in which an amount of change over time is equal to or greater than a certain threshold value, conducting a removal process of removing information about a place in the first map information and information about a place in the second map information that correspond to the place in which the amount of change over time is equal to or greater than the certain threshold value in the third map information, or alternatively, conducting a variance-increasing process of increasing a variance of each of information about a place in the first map information and information about a place in the second map information that correspond to the place in which the amount of change over time is equal to or greater than the certain threshold value in the third map information; (ii) matching the first map information and the second map information after being subjected to the removal process or the variance-increasing process, and generating map information based on the matching result; and (iii) updating the first map information to the map information generated based on the matching result. (i) in the third map information, if information exists about a place in which an amount of change over time is equal to or greater than a certain threshold value, conducting a removal process of removing information about a place in the first map information and information about a place in the second map information that correspond to the place in which the amount of change over time is equal to or greater than the certain threshold value in the third map information, or alternatively, conducting a variance-increasing process of increasing a variance of each of information about a place in the first map information and information about a place in the second map information that correspond to the place in which the amount of change over time is equal to or greater than the certain threshold value in the third map information; (ii) matching the first map information and the second map information after being subjected to the removal process or the variance-increasing process, and generating map information based on the matching result; and (iii) updating the first map information to the map information generated based on the matching result.