摘要

摘要写法1：

　　本文干了什么事。这个事有啥意义。然而，这个东西存在什么问题。为了解决这个问题，我们采取了什么方法。采取了什么实验，实验表明什么结果。

This paper proposes a novel approach for building the occupancy grid map using sonar data. It is very important for a mobile robot to
recognize and construct its surrounding environment for navigational purposes.However, the grid map constructed using ultrasonic sensors cannot represent

the shape of the given environment realistically due to incorrect sonar measurements incurred by specular reflections. For building a high-quality grid map,

we introduce the advanced sonar sensor model in which the negative effect of incorrect sonar measurements is minimized by associating geometrically with sonar data.

In addition, the evaluating method of the grid map with respect to the reference map was developed.

The experimental results demonstrate the validity of the proposed methods.