Title :
The DSP multi-frequency sonar configuration of the RAM-2 mobile robot
Author :
Martínez, M.A. ; González, J.F. ; Martínez, J.L.
Author_Institution :
Malaga Univ., Spain
Abstract :
This paper deals with the design and development of a system for controlling a ring of sixteen sonar transducers working at two different frequencies, generated by a DSP, for the mobile robot RAM-2. Data gathering speed is increased by the simultaneous firing of all sensors since the ultrasonic sensors that work at the same frequency are separated by 45°. The software and hardware implementation of the proposed perception system are presented. The results from the calibration process and the integration in the mobile robot RAM-2 are also studied
Keywords :
calibration; data acquisition; mobile robots; path planning; sonar signal processing; ultrasonic transducer arrays; DSP; RAM-2 mobile robot; calibration; data acquisition; indoor environment; multiple frequency sonar; navigation; perception system; sonar transducers; ultrasonic sensors; Acoustic sensors; Acoustic transducers; Control systems; Crosstalk; Digital signal processing; Hardware; Mobile robots; Sensor systems; Sonar; Ultrasonic transducers;
Conference_Titel :
Advanced Mobile Robots, 1997. Proceedings., Second EUROMICRO workshop on
Conference_Location :
Brescia
Print_ISBN :
0-8186-8174-8
DOI :
10.1109/EURBOT.1997.633607
