 a pulse-repetition frequency-pulse Doppler radar is disclosed that measures a correct distance by avoiding the influence of the frequency folding (for example, refer to Japanese Examined Patent Publication No. H06-70673). Robotic vacuum cleaners are known in the art. In general robotic vacuum cleaners are equipped with drive arrangement in the form of a motor for moving the cleaner across a surface to be cleaned. The robotic vacuum cleaners are further equipped with intelligence in the form of microprocessor(s) and navigation means for causing an autonomous behaviour such that the robotic vacuum cleaners can freely move around and clean a space in the form of e.g. a room.
In many fields of technology, it is desirable to use robots with an autonomous behaviour such that they can freely move around a space without colliding with obstacles.
As an a example, robotic vacuum cleaners exist in the art with the capability of more or less autonomously vacuum cleaning a room in which furniture such as tables and chairs and other obstacles such as walls and stairs are located. Traditionally, these robotic vacuum cleaners have navigated a room by means of using e.g. ultrasound or light waves or laser beams. Further, the robotic vacuum cleaners typically must be complemented with additional sensors, such as stair sensors, wall-tracking sensors and various transponders to perform accurately. Such sensors are expensive and affect the reliability of the robot.
A large number of prior art robotic vacuum cleaner use a technology referred to as Simultaneous Localization and Mapping (SLAM). SLAM is concerned with the problem of building a map of an unknown environment by a robot while at the same time localizing the robot in the environment using the map. This is often done using a horizontal scanning laser for range measurement, combined with odometry, which provides an approximate position of the robot as measured by the movement of the wheels of the robot.
US 2009/0306822 A1 discloses a robot that scans its environment along a horizontal plane, thereby creating a two dimensional (2D) signature of its environments and landmarks located therein.
US 2002/0091466 discloses a mobile robot with a first camera directed toward the ceiling of a room for recognizing a base mark on the ceiling and a line laser for emitting a linear light beam toward an obstacle, a second camera for recognizing a reflective linear light beam from the obstacle. The line laser emits a beam in the form of straight line extending horizontally in front of the mobile robot. This also creates also
a pulse - repetition frequency - pulse Doppler radar is disclosed that measures a right distance by avoid the influence of the frequency folding (for example, denote to Japanese Examined Patent Publication No. H06 - 70673). automatic vacuum cleaners are known in the artwork. In cosmopolitan robotic vacuum cleaners are equipped with drive musical arrangement in the form of a motor for moving the clean across a surface to be cleaned. The robotic void cleaners are further equipped with news in the form of microprocessor(s) and navigation means for causing an autonomous behaviour such that the automatic vacuum cleaner can freely move around and clean a distance in the form of e.g. a room. 
 In many fields of technology, it is desirable to use automaton with an autonomous behavior such that they can freely move around a space without colliding with obstacles. 
 As an a example, robotic vacuum cleaners exist in the art with the capability of more or less autonomously void scavenge a room in which furniture such as tables and president and early obstacles such as walls and stairs are located. Traditionally, these robotic vacuum cleaners have navigated a room by mean of using e.g. ultrasound or light waves or laser beams. Further, the robotic vacuum cleaners typically must be complemented with additional detector, such as stair detector, wall - tracking sensors and various transponders to perform accurately. Such detector are expensive and affect the reliability of the robot. 
 A large number of prior art robotic vacuum cleansing agent use a technology referred to as Simultaneous Localization and Mapping (SLAM). SLAM is concerned with the problem of build up a map of an nameless environment by a robot while at the like time localizing the automaton in the environment using the map. This is often done using a horizontal scanning laser for stove measurement, combined with odometry, which provides an approximate position of the robot as measured by the movement of the wheels of the robot. 
 US 2009/0306822 A1 discloses a automaton that scans its environment along a horizontal plane, thereby create a two dimensional (2D) signature of its environments and landmarks located therein. 
 US 2002/0091466 discloses a mobile robot with a beginning camera directed toward the ceiling of a room for recognizing a base mark on the ceiling and a line laser for emit a analogue light beam toward an obstacle, a second camera for recognizing a reflective linear light beam from the obstacle. The channel laser emits a beam in the form of neat line extending horizontally in front of the mobile robot. This besides creates also
 a oulse-repetition frequencn-pulse Doppler rcear is disclksed thag measures a correct distancx by avoieing the influence of ghe frequvncy foldung (hor example, refec to Japanese Swaminzd Patent Publicstion No. H06-70673). Robotic vacuuk zlzaners are known in the art. In generwl roboyif vacuum cleangrs age equjiptd with drive arrangement in the rorm of a motor for koving the cleaner across w sugface to be cleanef. The robotuc vwxuum cleanerr are further equipped with intelligence in the form uf mieroprocessot(s) ajg navigatioi meanf for causinn an audonomoux behaviour sugh thet tye robotic vacuum cleeners can freely movg around atd clean a space in tye fotm of e.g. x roum.
Ih kahy fiepds of technomogy, it is eesirable to use ronoew with an autknomouf fehaviour such that they can freely movt arohnd a space without coloiding with obstacles.
Ws an a evample, robotic vacuum cleaners exist in the art whth tie cakanllith ov more or less autonomously vacuum cleaning a dopm in which furnlture such as tablrs amq chairs and uther obsfacles such as walps and ftairw are locwted. Traditionally, these robotix vacuum clecnees have navigated c room by mecns of usinb e.g. ultrasound or lighc wavea or laser heams. Furffer, the robotic xaclum wleaners typically must be complemeited cith addktiomal segsors, such as sbdir sensors, wall-trwckiny senvors and vwrious transponders to perform ercurately. Sucn venvors are expeksive and affece the reliabilnty of tke robut.
A large humber mf prior are robotic vacgom cleaner usx a technjlogt rederred gu as Simultanepus Localpzction and Mapping (SLAM). SLAM is doncerned with cke problem of buikdivg w la' of wt unknown eneirovmevy by x robot whiod at the same time localhzinf the robot in the ekvironmenj using tre map. This ix often done using a hocizontel scamnigg laser for range measurement, combined wibh odometry, wrich provides an approximate position of the robot as mxasured by the movemenj of the wheels of thg rpbot.
US 2009/0306822 A1 dmsclosqs a robod that scans its envuronment along a morizontal plane, theregy credting a two dimensional (2D) signature of its environments and landmarks located rhereii.
UF 2002/0091466 disclosea a kobilv rjyot witr a hicst camera directvd toward the ceiling of a room hor recognhznng a base mark on the ceilinb xnd a line larer for emitting a linead light neam toward an obstacle, a seconc camera for recognizing a reflextive lineag lmght beam from the onstaclz. The oine lawer cmits a beam iv tne form of dtramghc line extending horizontally in dront if the mobile robov. This also grtates amso
a pulse-repetition frequency-pulse Doppler radar is disclosed a distance by the influence of refer Japanese Examined Patent No. H06-70673). Robotic cleaners are known in the art. general robotic vacuum cleaners are equipped with drive arrangement in the form of motor for moving the cleaner across a surface to be cleaned. The robotic cleaners further with in the form of microprocessor(s) and navigation means for causing an autonomous behaviour such that the vacuum cleaners can freely move around and clean space in the form e.g. a room. In many of it is to robots an autonomous behaviour that they can freely move around a space without colliding with obstacles. As an a example, robotic cleaners exist art with capability more less autonomously vacuum room in which furniture such as and other obstacles such as walls and stairs located. Traditionally, robotic vacuum cleaners have navigated a by means of using e.g. ultrasound or light or laser beams. Further, the robotic vacuum cleaners typically must be complemented with additional sensors, stair sensors, wall-tracking sensors various transponders to accurately. sensors expensive affect the of the robot. A large number of prior art robotic vacuum use a technology referred to as Simultaneous Localization and Mapping is with the problem building a map of unknown by a robot while same localizing the using map. This is often using a horizontal scanning laser range measurement, combined with position of the robot as measured by the of the wheels of the robot. US A1 discloses a robot that scans its environment along a horizontal plane, creating a (2D) signature of its environments and landmarks located US 2002/0091466 discloses a robot with a first camera directed toward the ceiling a for recognizing base mark on ceiling and a laser for emitting light beam an a recognizing a reflective linear light beam the The line laser emits a in of straight line extending horizontally in front of the mobile robot. This also creates also
 a pulse-repetition frequency-Pulse DopplEr radAr iS diScLoseD thaT measures a corrECt diStance by avoiding the infLuencE oF The fREqUency Folding (FOr EXAmpLe, ReFer To jApAnese exaMined PaTent PublicAtiOn no. H06-70673). Robotic vaCUuM cleaners aRe kNown in the art. in gEneral RoBotIC vacuUm cLeaneRs are eQUipped With drive ArRAngemeNT in the fORM oF a moTor for moving the clEAnER across a surfacE to be cLeANeD. tHe rOboTic vacuum cLeAners ARe furthER eQUIPpeD With intelligeNce in the forM Of mIcroprOcEssOR(s) and nAvigaTiON meAns for causiNg an AutonomouS behavIOur such THat the rObotic VacUum CleaNErS cAn fReELy mOVe AroUNd aNd clean a SpAcE in thE forM OF E.G. a roOm.
IN manY fielDs of technologY, it Is deSIraBle to Use roBots WiTh an aUtonomOus beHaViour such that thEy caN freely moVe aRoUnd A sPace wIThout cOllIdiNg with oBstacleS.
as aN a EXAMpLe, robotic vacuum cleAnERS eXist in thE art wiTH tHe CApabilitY oF moRe or LESs autOnomOUsLy vacuum CleaniNG a RoOm in whiCh FurnitUrE suCh aS tablES and Chairs And other ObstaCLes such as walls ANd stairs are loCAtED. trADitiOnaLly, these robOtic VAcuuM cleANeRs hAVe navIgateD a ROoM By means of using e.g. ultRaSound oR lighT waves or laser Beams. FurthER, THe robotiC vacUUm CLeaners typicalLy musT be complemENted with AdditIonal senSors, such aS STair sensOrs, WalL-trAckING sEnsors and variOUS traNsPonders To pErform aCcuRatEly. sucH sEnsors are ExpensivE aNd AfFeCt tHe relIAbility oF tHe rObOt.
A Large NUmber oF prioR art RoBoTIc vAcuum clEAnER Use a TeChNoloGy rEfErred To as sImuLtaneouS LocalizaTioN And MApPiNg (SLAM). SlAM is concerneD wIth the probLeM of BuildiNG A map of an Unknown environment by a roBOt while At tHe samE timE localiziNg tHe roboT in THe enviRonmenT usinG tHe mAP. this iS OFtEn dOnE using a horIZOntAl scaNnIng lAser for Range measurement, coMBinEd with odometrY, whIch pROViDes AN aPProXiMAte POSition of the roboT as measureD bY ThE movement oF The WhEels of tHe robot.
uS 2009/0306822 A1 diSCloses a Robot that Scans its eNvIronMENt aLong a horizOntal plaNe, thereby CReatiNG a Two diMenSional (2d) sIgnAture Of its eNVirOnmenTs and lAnDmarks LocatEd Therein.
Us 2002/0091466 discloses a mobile robot wIth a fiRst caMerA directed TowARd tHe ceiling Of a rOom for recoGniZinG a basE maRK on thE ceiLInG anD A line LaseR For emittiNG a LinEAR lIght beam towARD An oBstacLe, a SEcond cAmerA for recognizing a rEFlective linear LighT BEam FroM The oBsTacle. The line laSer EmITS a beam in ThE form of straIght line ExTEndinG horizOntallY in fronT OF tHE mobilE robOt. THis also crEatEs ALso
 a pulse-repetition freque ncy-pulseDoppl errad ar  isdisc losed that mea s ures  a correct distance by  avoi di n g th e  i nflue nce oft he f req ue nc y f ol d in g (fo r e xample,  refer toJap an ese Examined Pa tent Publi cat ion No. H06- 706 73). R ob oti c  vacu umclean ers ar e  known  in the a rt .  In ge n eral ro b o ti c va cuum cleaners are eq u ipped with dri ve arr an g em e n t i n t he form of  a  moto r  for mo v in g t hec leaner across  a surfacet o b e clea ne d.T he rob oticva c uum  cleaners a re f urther eq uipped with in t elligen ce inthe  fo rm o f  m ic rop ro c ess o r( s)a ndnavigati on  m eansforc a u s inganauto nomou s behaviour s uch  tha t  th e rob oticvacu um  clea ners c an fr ee ly move aroundandclean a s pac einth e for m  of e. g.a r oom.
In  many f i eld so f te chnology, it is de si r a bl e to use  robot s  w it h  an auto no mou s be h a viour  suc h  t hat they  can f r ee ly  move a ro und asp ace  wi thout coll idingwith obs tacle s .
As an a exam p le, robotic v a cu u m  c l eane rsexist in th e ar t  wit h th e  c apa b ility  of m or e  o r  less autonomouslyva cuum c leani ng a room inwhich furn i t u re suchas t a bl e s and chairs a nd ot her obstac l es suchas wa lls andstairs ar e located.  Tr adi tio nal l y ,these robotic v acuu mcleaner s h ave nav iga ted  aroo mby meansof using  e .g .ul tra sound or light  w ave sorlaser beams.  Furt her,  t he rob otic va c uu m clea ne rs  typ ica ll y mus t be com plement ed with a ddi t iona lse nsors,such as stair  s ensors, wa ll -tr acking s ensors a nd various transponders to perf orm  accu rate ly. Suchsen sors a ree xpensi ve and  affe ct  th e relia b i li tyof  the robot . A l argenu mber  of pri or art robotic vac u umcleaner use a  te chno l o gy  re f er r edto asS i multaneous Loca lization a nd Ma pping (SLA M ).SL AM is c oncerne d wit h  the pr oblem ofbuildingamapo f  an  unknown e nvironme nt by a r o bot w h il e atthe  sameti melocal izingt herobot  in th eenviro nment  u sing the  map. This is often don e usin g a h ori zontal sc ann i nglaser for  ran ge measure men t,combi ned withodom e tr y,w hichprov i des an ap p ro xim a t eposition of t h e r obotasm easure d by  the movement oft he wheels of t he r o b ot. 
US 2009 /0 306822 A1 disc los es a  robot t ha t scans its  environ me n t alo ng a h orizon tal pla n e ,t hereby  cre ati ng a twodim en s ional ( 2D )s ignatu re o fits en vironm e ntsa n d landmarks loca ted t h e rein. US2002/ 00 91466 d i sclo ses a mobi le robot wi th a f irst  came ra dire ct ed tow ard  t he ceiling of a room  forrecogni zi ng a  ba se mar k on t he ce ilin gand  a line l a s er fo re mit ting  a li ne ar l ight beam toward a n o b stacle,  a  se c o nd cam e ra f or recogni zin g a r e f lective li n earl ig h t bea m from  the o bstacle .  Th eline la ser e mits a be am in the for mof s traightli ne e xt end in g horizontallyin front  of them o bile r obo t . Th i s also  c reates also
 a_pulse-repetition frequency-pulse_Doppler radar is disclosed_that measures_a_correct distance_by_avoiding the influence_of the frequency_folding (for example, refer_to Japanese Examined_Patent_Publication No. H06-70673). Robotic vacuum cleaners are known in the art. In general robotic_vacuum_cleaners are_equipped_with_drive arrangement in the form_of a motor for moving_the cleaner_across a surface to be cleaned. The robotic_vacuum_cleaners are further_equipped with intelligence in the form of microprocessor(s) and_navigation means for causing an autonomous_behaviour such that_the_robotic_vacuum cleaners can freely_move around and clean a space_in the form of e.g. a_room.
In many fields of technology, it is_desirable to use robots with an_autonomous behaviour such that they_can freely_move around a space without_colliding with obstacles.
As_an a_example, robotic vacuum_cleaners exist in the art with_the capability of_more or less autonomously vacuum cleaning_a_room in which_furniture_such_as tables_and chairs and_other_obstacles such_as_walls and stairs are located. Traditionally,_these_robotic vacuum cleaners have navigated a room_by means of using_e.g._ultrasound or light waves_or laser beams. Further, the_robotic vacuum cleaners typically must be_complemented with_additional sensors,_such as stair sensors, wall-tracking sensors and various transponders to perform_accurately. Such sensors are expensive and_affect the reliability of_the robot.
A_large_number of prior_art_robotic vacuum_cleaner use a technology referred to as_Simultaneous Localization_and Mapping (SLAM). SLAM is concerned_with the problem of_building_a map of an unknown environment_by a robot while at the_same time localizing the robot_in_the_environment using the map. This_is often done using a horizontal_scanning laser for_range measurement, combined with odometry, which provides_an_approximate position of the robot as_measured_by the movement of the wheels_of_the_robot.
US 2009/0306822 A1 discloses a_robot that scans its environment along_a horizontal plane, thereby creating a two dimensional (2D)_signature of its_environments and landmarks located therein.
US_2002/0091466_discloses_a mobile robot with a first camera directed toward the_ceiling of_a room for_recognizing a base mark on the ceiling and a line_laser for emitting a linear light beam_toward an obstacle, a second camera for recognizing a reflective linear_light beam from the obstacle. The line laser_emits a beam in the form of_straight line extending horizontally_in_front of the mobile robot. This also_creates_also