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Carnegie Mellon Robotics Institute

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Abstract

A sonar-ring is one of the most popular sensors for indoor mobile robots, because it is simple and gives omni-directional distance information directly. However, it is difficult to measure the accurate direction of reflecting points by a conventional sonar-ring sensor. Further more, conventional sonar-ring sensors are slow to get full 360 degrees information due to sequential driving of transducers for avoiding interference. In this paper, we propose a new sonar-ring sensor system for a mobile robot which can measure the accurate bearing angles of reflecting objects in a single measurement. The proposed system employs the measurement by using differences of time-of-flight and by simultaneous transmit/receive of all directions, and consequently achieved fast measurement. We implemented a prototype of the proposed sonar-ring on a mobile robot. The experimental data show the effectiveness of the proposed system.

Notes

Text Reference

Teruko Yata, Akihisa Ohya, and Shin'ichi Yuta, "A Fast and Accurate Sonar-Ring Sensor for a Mobile Robot," Proceedings of the 1999 IEEE International Conference on Robotics and Automation, May, 1999, pp. 630-636.

BibTeX Reference

@inproceedings{Yata_1999_3800,
   author = "Teruko Yata and Akihisa Ohya and Shin'ichi Yuta",
   title = "A Fast and Accurate Sonar-Ring Sensor for a Mobile Robot",
   booktitle = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation",
   pages = "630-636",
   month = "May",
   year = "1999",
}

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