Building Similarity Maps of the Environment Using Sonar Information for the Navigation of Mobile Robots

Abstract

The objective of the work is to present a representation called similarity map based on some results in the evaluation of the SONAR system of a mobile robot. As environment a corner of our lab it is considered. Based on some reference positions, where the robot is making a complete rotation, some test positions are considered with the task of recognition of the environment, in order to be able to recognize the position. Using similarity measures based on Euclidian distance, similarities maps are defined and estimated. The results are useful in defining complex strategies of navigation using SONAR systems.