Optimal sonar array for target localization and classification

Lindsay Kleeman, Roman Kuc

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

60 Citations (Scopus)


A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 0.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)0818653329
Publication statusPublished - 1 Jan 1994
EventIEEE International Conference on Robotics and Automation 1994 - San Diego, United States of America
Duration: 8 May 199413 May 1994
https://ieeexplore.ieee.org/xpl/conhome/941/proceeding (Proceedings)


ConferenceIEEE International Conference on Robotics and Automation 1994
Abbreviated titleICRA 1994
Country/TerritoryUnited States of America
CitySan Diego
Internet address

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