  This paper presents the use of multi-sensor measurement system to guide
autonomous mobile robot in the house. The system allows the 3D image
acquisition to global mapping, and algorithms to reduce the dimensionality of
images to 2D global map navigation, trajectory design approach using the
Lyapunov function method and avoid obstacles by the potential energy can also
be presented. Also, sensor integrated method based on extended Kalman filter
allows us to identify the exact location and orientation of the robot in the
presence of interference from the environment.
