Rapid Environment Identification for Intelligent Mobile Robot

This paper presents a rapid statistic credence modeling methodology for ultrasonic range sensors based on a hybrid mechanical configuration. This configuration of ultrasonic range sensors will speed up a circular distance measurement around the robot within 180 milliseconds (resolution in 1deg). Besides, the sensor model provides the credence probability of actual points of reflection on obstacle target, and the convex or concave can be recognized by a simple vector transversal rule. This credence methodology with configuration could be incorporated as extra credence information on building grid map for environment exploration or provide the most reliable geometric beacons for self localization application and mapping, etc