A robot ultrasonic mapping method based on the gray system theory

A robot mapping algorithm based on the gray system theory is described in this paper. The ultrasonic error model is established according to the sound wave transmission character and a gray value is defined to express the sensor data uncertainty. In this algorithm, several continuous sonar data are fused based on the gray system fusion theory in order to update the gray value of the map grid. A grid neighborhood searching method is proposed to judge the robot accessible position, plan the feasible path for the complete map of the whole environment. The validity and accuracy are proved in the real office environment.