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An autonomous mobile robot should be able to construct a map of its environment based on the sensory information received from various on-board sensors such as sonar, laser, IR and vision sensors etc. Various kinds of incompleteness and uncertainties in sensory information causes poor mapping of the environment. Ultrasonic sensors have been widely used in mobile robots navigation applications as they can produce good range information based on the time of the flight (TOF) principle. This provides an easy and inexpensive way for the robot system to construct and maintain its map for localization, obstacle avoidance and other purposes during its navigation in unknown environments. However, there are some fundamental drawbacks which limit the usefulness of ultrasonic devices where most significant one is the possibility of specular reflections from the environment. This paper addresses the design and implementation of fuzzy logic system to reject the specular reflection based false sensory information from the raw sensor data. The results are verified by comparing the conventional occupancy grid map and by using proposed technique.
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