Map building for a mobile robot based on grey system theory

In this paper, a new method for mobile robot map building based on grey system theory is presented, by which interpretation and integration of sonar readings can be solved robustly and efficiently. The conception of “grey number” is introduced to model and handle the uncertainty of sonar reading. A new data fusion approach based on grey system theory is proposed to construct environment model. Map building experiments are performed both on a platform of simulation and a real mobile robot. Experimental results show that our method is robust and accurate.