Building Map Using Peak Amplitude of Sonar Echoes

This paper modified previous models of sonar sensors applied on building the map of environment for mobile robot to improve the map accuracy. Although sonar sensors are fairly accurate in measuring distance, they commonly have significant uncertainty in angular position. The uncertainty with Gaussian distribution or uniform distribution is assigned along an arc in previous researches, base on which the mathematics models of sonar sensor are modified, not only the time of flight (TOF) but also the parameter of incidence angle is considered according to the peak amplitude. Compared with the original one, the new model is effective and the map is more accurate, which is shown by the simulation results