Occupancy grids building by sonar and mobile robot

In this paper, a modified method for occupancy grid map building by a moving mobile robot and a scanning ultrasonic range-finder is proposed. The map building process consists of two phases: (1) gleaning of information from environment, and (2) sonar data processing. For sonar data processing the proposed modified method combines: (1) statistical approach for probability sonar model building; and (2) application of fuzzy logic theory for sonar data fusion. It is experimentally shown that, in some applications, the proposed modified method has advantages over other well-known methods.