Player:Community Portal

From Player

What is the best way to fuse data read in from both laser and sonar?(1)just simply switch between them, i.e. if the robot get stuck in local minima when relying only on sonar, how can I make it switch to laser?(2)otherwise, is it better to combine the reading by taking some kind of average of these 2 sensors in any way? And how? Anybody has idea? many thanks...Rick