Moravec H，Elfes A． High resolution maps from wide angle sonar[C]/ / Proc IEEE Int Conf Robotics and Automation，Piscataway， NJ，USA: 1985．
[2]
Wijk O，Christensen H I． Triangulation-based fusion of sonar data with application in robot pose tracking[J]． IEEE Transactions on Robot and Automation，2000，16( 6) : 740-752．
[3]
Oriolo G，Ulivi G，Vendhtelli M． Real-time map building and navigation for autonomous robots in unknown environments[J]． IEEE Transactions on Systems，Man， and Cybernetics， 1998，28( 3) : 316-332．
[4]
刘琴涛． 超声波测距的误差分析与改进方法[J]． 江汉大学文理学院学报，2010，1 ( 1) : 59-62． Li qintao． Ultrasonic ranging error analysis and improvement methods[J]． Journal of College of Arts and Science，Jianghan University，2010，1( 1) : 59-62． ( in Chinese)
[5]
Wang W H，Chen W D，Xi Y G． Uncertain information based map building of mobile robots in absolutely unknown environment [J]． Robot，2001，23( 6) : 563-568．
[6]
Levent Yenilmez，Hakan Temeltas． Map building for mobile robots by ultrasonic and infrared sensor data fusion[J]． Proceedings of SPIE，2002，4902( 1) : 444-449．
[7]
Choset A，Nagatani K，Lazar N A． The arc-transversal median algorithm: a geometric approach to increasing ultrasonic sensor azimuth accuracy[J]． IEEE Transactions on Robotics and Automation，2003， 19( 3) : 519-522．
[8]
Moravec H P． Sensor fusion in certainty grids for mobile robots[J]． AI Magazine，1988，9 ( 2) : 61-74．
[9]
Elfes A． Sonar-based real-world mapping and navigation[J]． IEEE J Robotics and Automation，1987，3 ( 3) : 249-265．
