The Local Area Map Building for Mobile Robot Navigation Using Ultrasound and Infrared Sensors

摘要

This paper was devoted to improvement of existing and development of the new method for local area map building of mobile robot using sensor fusion techniques. The unstructured environment for navigation of mobile robots is the reason of such task. The offered method provides the local area map building using polar coordinate system and bases on the applications of artificial neural network for fusing of readings from ultrasonic and infrared sensors. Application of the proposed method allows to decrease computational complexity and to increase the accuracy of local area map.