A sonar-based mapping and navigation system

This paper describes a sonar-based mapping and navigation system for autonomous mobile robots operating in unknown and unstructured surroundings. The system uses sonar range data to build a multileveled description of the robot's environment. Sonar maps are represented in the system along several dimensions: the Abstraction axis, the Geographical axis, and the Resolution axis. Various kinds of problem-solving activities can be performed and different levels of performance can be achieved by operating with these multiple representations of maps. The major modules of the Dolphin system are described and related to the various mapping representations used. Results from actual runs are presented and further research is mentioned. The system is also situated within the wider context of developing an advanced software architecture for autonomous mobile robots.