A Novel Ultrasonic Sensing System for Autonomous Mobile Systems
نویسنده
چکیده
This paper presents a novel ultrasonic sensing system for autonomous mobile systems. We describe how wide-angled ultrasonic transducers can be used to obtain substantial information of the environment. This can be achieved by exploiting the overlapping of the detection cones from neighbor sensors. The ultrasonic sensing system also allows the detection of multiple echoes from different echo paths for each sensor. In this way a significantly higher number of echoes can be obtained in comparison to conventional ultrasonic sensing systems for mobile robots. In order to benefit from the increased sensor information adequate data post-processing is required. In this context we describe how an environment model can be created from real ultrasonic sensor data.
منابع مشابه
Are Autonomous Mobile Robots Able to Take Over Construction? A Review
Although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. Today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...
متن کاملVision-based navigation of mobile robot with obstacle avoidance by single camera vision and ultrasonic sensing
This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a model-based vision system, and a non-stop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are ...
متن کاملVision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing
This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a model-based vision system, and nonstop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are det...
متن کاملA New Coding Method for Transmitted Signals in Sonar Systems
This paper presents a novel coding method for sonar systems, used by autonomous mobile vehicles. The coding method is developed to protect a proper and high accuracy work for the ultrasonic sensors and to allow them an operation without complications by the range measurement, if multiple vehicles with identical sonar systems move the same time. The specific of the known ultrasonic sensors in th...
متن کاملObstacle detectability of ultrasonic ranging system and sonar map understanding
Information obtained by the ultrasonic sensor is influenced by the characteristics of the sensing system such as sensitivity, directivity and so on. In order to investigate its influence, we constructed two ultrasonic ranging systems of which characteristics differs from each other and examined their performance such as obstacle detectability and resultant sonar map.
متن کامل