Enhancing the real-time response of an ultrasonic sensor for map building tasks

Abstract

This paper focuses on reducing the number of angular readings per scan, using a single ultrasonic rotary device; together with the use of interpolation to achieve high angular resolution. This reduction in the number of angular readings also produces a drastic reduction in the time spent in map generation, enabling real-time response. Finally, the enhanced real-time map-building architecture of the robot is also described.