Abstract
In this paper, we present an efficient approach to build a sonar based mapping for autonomous mobile robot in indoor environments. The system uses one ultrasonic sensor mounted on a motorization constituted by one stepper motor allowing an horizontal scanning. The reading is modelled as probability profiles projected on a two-dimensional map. These readings provide information's concerning empty and occupied areas in the sensor cone. The robot is placed in different positions of the environment where sets of readings are taken. In this paper we propose a neural approach to determine the status of a given area in a global then in a local manner. The goal being to obtain an environment map with a high accuracy. The map can be used in path planning.
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