关键词：移动机器人;超声波测距;传感器;环境建模,基于网格的映射
摘 要：In order to deal with the conflict of the robot high-performance implementing the task in an uncertain environment,environmental modeling method based on ultrasonic ranging was adopted.By the complex environmental modeling mean of combining the methods of grid and geometry,relying the measurement data of the adjacent multi-ultrasonic and the correlation among the data,the environmental modeling was established effectively.The modeling characteristics analysis showed that:the robot can easily make obstacle avoidance,path planning and decision-making in the grid-based modeling.The accuracy of the modeling is high,and it can detect and update the complex regional expediently.The environmental modeling based on ultrasonic ranging can effectively solve the problem of mobile robot implementing the tasks efficiently in the actual complex environment.