Map building for mobile robots by ultrasonic and infrared sensor data fusion

Abstract

This study implements a digital map building method for a mobile robot operating in an environment with obstacles by fusing sensor data. Required information for a map designing is supplied by fusion of different sensor data using sequential principal component method. We discus mathematical and experimental issues of the method. Application of the method for grid based map building is introduced and suitability in mobile robot navigation is demonstrated. Experimental studies are implemented on Nomad200 mobile robot successfully.