A Map Building Method Based on Uncertain Information of Sonar Sensor

This paper presents the research on the problem of uncertain sensor information processing in map building of mobile robots. In this paper, an improved method based on probabilistic grid is proposed. This method has introduced range confidence factor in ultrasonic model and is applied to autonomous map building of mobile robot. So uncertainty caused by specular reflection in ultrasonic sensor responses can be successfully reduced. The experiment results indicate that the model improves the performance of ultrasonic sensors.