Grid Map Building from Reduced Sonar Data

Abstract In this paper an ultrasonic sensor is presented, aimed to map building in autonomous robot applications. By means of a rotary movement the sensor can be settled up to 200 angular positions. The data processing performed in the sensor module gives more elaborated data than the usual ToF ultrasonic sensor systems and it is possible to detect all objects placed in the scenario with its signal amplitude value. Due to the quality of data is possible to reduce the amount of angular readings required to construct the map. As results indicate it is possible to obtain good maps using only a very reduced set of readings.