Exploring an Unknown Environment Using Ultrasonic and Infrared Sensors

Abstract

A map-building scheme that uses a fuzzy system and sensors to control a wheeled mobile robot for building a map of an unknown environment is described in this paper. This study applies an infrared localization system and ultrasonic sensors to locate current positions and mark surrounding obstacles. With the information provided by the localization system and the distance detected between the sensor and an object, a map of the surroundings can be established using a curve fitting method during environmental exploration. A map of an unknown environment can be built without using visual sensors. Different map building approaches are applied and a comparison is given.