Indoor mobile robot control for environment information gleaning

Information of environment has substantial importance for mobile robot navigation. Sensors are important sources of information of the global Environmental conditions. Ultrasonic sensors are known as robust and cheap distance sensors suitable for this application. In the presented paper an application of a mobile microrobot using an ultrasonic range finder for local map building is described The data collected bet, range finder from any fixed point are limited by physical properties of ultrasound waves. Only those parts of surfcaces are detected for which the impact wave direction appears to right angles. Therefore the sensor data from different positions must be combined to obtain complete representation of the environment. In this paper an algorithm of map completion is presented. Experimental results are presented too.