Range information extraction using U BAT: an ultrasonic based aerial telemeter

Author

Patrouix, O. ; Jouvencel, B.

Author_Institution

LIRMM, Univ. des Sci. et Tech. du Languedoc, Montpellier, France

fYear

1993

fDate

15-19 Nov 1993

Firstpage

1460

Abstract

In this paper, we describe an ultrasonic system, named BAT, and propose a fusion method based on fuzzy logic. We present an original fuzzy distance to check if many measures can be combined. The motion of BAT is taken into account in the sonar measurement processing. We build a spherical grid to represent the robot environment, then we analyze the updating of this grid after a motion of BAT. We compare our method of fusion with the classical method based on Bayesian statistics. Some examples of scene reconstruction are displayed and we discuss on the performances and the precision obtained with our system

Keywords

Bayes methods; acoustic imaging; distance measurement; fuzzy logic; navigation; robots; sensor fusion; sonar; telemetering; BAT; Bayesian statistics; fusion method; fuzzy logic; navigation; robot; scene reconstruction; sonar measurement processing; ultrasonic based aerial telemeter; Bayesian methods; Brain modeling; Data mining; Fuzzy logic; Layout; Robots; Sonar measurements; Statistics; Ultrasonic transducers; Ultrasonic variables measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-0891-3

Type

conf

DOI

10.1109/IECON.1993.339286

Filename

339286