For　mobile　robot　autonomous　exploration　and　mapping　in　the　unknown　environment,　the　paper　presents　a　mobile　robot　autonomous　exploration　method　based　on　the　dynamically　simplified　hybrid　map　under　the　robot　operating　system(ROS)　framework.　Firstly,　to　fast　extract　current　frontier　target　points,　a　method　of　generating　target　points　based　on　geometry　rules　is　proposed.　Then,　from　the　perspective　of　the　information　gain　and　the　cost　of　path,　an　improved　value　function　is　introduced　to　measure　the　candidate　target　points.　Finally,　an　incremental　caching　theory　is　adopted　to　optimize　topological　nodes,　and　then　construct　the　simplified　hybrid　map.　Experimental　results　demonstrate　that　the　proposed　method　has　good　navigation　performance　by　improving　the　strategies　of　building　topological　map.　©　2017,　Editorial　Office　of　Control　and　Decision.　All　right　reserved.