Accurate Map Building via Fusion of Laser and Ultrasonic Range Measures

Abstract

Reactivity to workspace features and workspace changes is an essential capability for robotic systems performing motion tasks in unstructured environments [1,11,24]. A truly autonomous mobile robot should be able to discriminate between safe and dangerous areas, recognize free passages, as well as detect possibly moving obstacles. These goals can be achieved only if the robot is endowed with a fast, reliable, accurate sensory system.