ABS Problems and Trouble Braking?

[technoboy235]

I have a 2nd gen Explorer and I have a question about the brakes and ABS system. Would the ABS light being on, be directly associated with decreased braking power? The Fliud lines are good, The pads and calipers are good and the rotors are good. My mechanic wants me to replace all the ABS sensors. He says that the ABS sensors being bad are causing decreased braking power.

Thanks:exporange

 

[technoboy235]

I would also like to know if mud could destroy a sensor, not just coat it.

Thanks