Directional maximum (DM) technique for processing ultrasonic arc maps (UAMs) is proposed and compared to existing techniques. It employs directional processing in extracting the map of the environment from UAMs. DM aims at overcoming the intrinsic angular uncertainty of ultrasonic sensors in map building, as well as eliminating noise and cross-talk related misreadings. The comparison is based on experiments with a mobile robot which acquired ultrasonic range measurements through wall following. Three complementary performance criteria are used. The DM technique offers a very good compromise between mean absolute error and correct detection rate, with a processing time less than one tenth of a second. It is also superior in range accuracy and in eliminating artifacts, resulting in the best overall performance. The results indicate several trade-offs in the choice of UAM processing techniques.
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