Replacing Kinect with Sonars

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I'm wanting to replace the Kinect sensor with sonars for obstruction detection. Kinect has a hard time detecting glass and working in sunshine, which makes it a pretty bad option in the building I'm trying to use it. Currently, I have five sonars attached to the front of the TurtleBot. They detect how far away an object is from them and translate that distance reading into an analog voltage, which is converted to digital by an Arduino before being sent to my computer. How might I use this data to mimic the data output of the Kinect sensor?