I have a mobile robot with multiple ultrasound and IR sensors on the front, side and at the back. It also has Rotational Encoders to generate Odometry data and IMU/GPS for localization. I would like the robot to navigate around the building with a given map using these sensors only (I don't have a laser sensor). My doubt is how can I interpret data from Ultrasound and IR sensors and use that for navigation. So, I would appreciate if someone can point me in the right direction and tell me about existing ROS packages, relevant links and other resources which will be helpful for the above mentioned problem.
I know this is a very general question and I am not looking for specific answers but just pointers to a good source from people who have worked on similar problems before.
Edit 1: One more thing, is it possible to improve localization using proximity sensors (something similar to amcl which uses laser scan). Maybe, generate fake laser scan data using proximity sensors and then use amcl to improve localization of the robot or maybe some other way. Does anyone has some insights on this?
Thanks in advance.
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