abs intermittant light

I've benn having my abs light come on for about two weeks.it seemed to be coming on at odd times and sometimes the abs would kick in when braking to at a soft stop. anyways the light would stay on for the rest of the trip and would usually reset itself(i guess)upon the next statup or in mid pursuit.i will take it to the stealer soon but,i was USING THE SEARCH fUNCTION and found a tip from a previous post about the WHEEL SENSOR being dirty or a bad contact.So i took off the left rear driver's side wheel and looked and removed the wheel sensor only to find it so caked and filthy with dirt and brake dust.i cleaned just one sensor and will check the condition of the front sensor soon. i'm not saying this is a fix for my or anyone else's abs light going on but i do have a good feeling about checking the condition of all of them and maybe it might help so i'll try to keep posted .thanks to fred's!!!!