Navigation of Mobile Robots in Unknown Environments Using Ultrasound Sonars [abstract] (PDF, PostScript)
Guilherme Ottoni and Walter Lages
SBA Journal of Control and Automation, Volume 14, Number 4, November 2003.

This paper presents a navigation system for mobile robot working on unknown environments. The proposed method is based on approximated cell decomposition. Only the initial and final position and orientation are required a priori. However other information initially known about the environment may also be provided. The remaining data used to develop the path plan are obtained by the robot using an ultrasound sonar. Details about the real time implementation of the method and about the robot are also presented. Simulated and experimental results validate the approach.