Autonomous Navigation and Real Time Mapping Using Ultrasonic Sensors in NAO Humanoid Robot

Mapping is an essential and basic requirement for a mobile robot in order to be able navigate autonomously. This paper proposes solution autonomous navigation real-time mapping using the virtual humanoid called NAO. The navigates through its environment ultrasonic sensors only develops 2-D map of environment. For implementation testing, Webots simulator was used. It provides values, modification designing 3-D world arena, plugins other parameters control. We test differently shaped environments. proposed mathematical algorithm allows calculates position obstacles (if any). results indicate that can localize within whereas accuracy localization increased by adding control constant orientation robot. demonstrate more effective rectangular arena than triangular pentagon arenas.