Heuristic algorithm of isolated obstacles detection by mobile robot according to ranging data

The algorithm solving a problem of detection of the single isolated obstacles by mobile robot by means of a range finder is described. The main unit of algorithm is constructed as system of productional rules which are introduced by the logical ratios allowing to find existence or lack of an obstacle across the field of normals to a surface. The found obstacles are brought on the two-dimensional map, methods of mapping of obstacles are discussed.
The paper is prepared as expanded version of the report submitted on the Conference on Artificial Intelligence CAI-2016, Smolensk, 2016.