Abstract
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 language | English |
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| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| Pages | 3130-3135 |
| Number of pages | 6 |
| ISBN (Print) | 0818653329 |
| Publication status | Published - 1 Jan 1994 |
| Event | IEEE International Conference on Robotics and Automation 1994 - San Diego, United States of America Duration: 8 May 1994 → 13 May 1994 https://ieeexplore.ieee.org/xpl/conhome/941/proceeding (Proceedings) |
Conference
| Conference | IEEE International Conference on Robotics and Automation 1994 |
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| Abbreviated title | ICRA 1994 |
| Country/Territory | United States of America |
| City | San Diego |
| Period | 8/05/94 → 13/05/94 |
| Internet address |
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