In this paper, we show how linguistic expressions can be generated to
describe the spatial relations between a mobile robot and its
environment, using readings from a ring of sonar sensors. Our work is
motivated by the study of human-robot communication for non-expert
users. The eventual goal is to use these linguistic expressions for
navigation of the mobile robot in an unknown environment, where the
expressions represent the qualitative state of the robot with respect
to its environment, in terms that are easily understood by human users.
In the paper, we describe the histogram of forces and its application
to sonar sensors on a mobile robot. Several environment examples are
also included with the generated linguistic descriptions.