Map bulding for mobile robot using fuzzy logic

Abstract EN

We present in this paper, a method of map building using the information of the ultrasonic sensors of a mobile robot.

This method is based on the decomposition of the environment to square cells and the concepts of fuzzy logic where at each cell a membership function occupied or empty is affected.

This local information will be aggregate by filtering out insufficient or conflicting information in a global representation of empty and occupied spaces to obtain a representative map of the environment.