Title :
Advanced sonar module for mapping applications
Author :
Hernández, Álvaro ; Urena, Jesus ; Mazo, Manuel ; Garcia, Juan J. ; Jiménez, José A. ; Alvarez, Femando J.
Author_Institution :
Dept. of Electron., Universidad de Alcala, Madrid, Spain
Abstract :
Recent sonar modules applied to autonomous robots usually consist of several transducers, associated geometrically and electronically to improve performances and results, compared to systems based on only one isolated transducer. Nevertheless, in order to take advantage of these associations, it is necessary to develop new algorithms to consider suitably all the information given by times-of-flight (TOFs) from transducers. This work describes a new method to analyze these TOFs, so they can be used to obtain a heuristic map of the environment. A new operation mode is also proposed to allow the system adaptation to different environmental conditions in run-time.
Keywords :
mobile robots; sonar signal processing; ultrasonic transducers; autonomous robots; electronic association; geometric association; heuristic environment map; mapping applications; sonar module; times-of-flight; transducers; Proposals; Robots; Runtime environment; Sensor phenomena and characterization; Signal processing; Signal processing algorithms; Sonar applications; Ultrasonic imaging; Ultrasonic transducers; Ultrasonic variables measurement;
Conference_Titel :
Emerging Technologies and Factory Automation, 2003. Proceedings. ETFA '03. IEEE Conference
Print_ISBN :
0-7803-7937-3
DOI :
10.1109/ETFA.2003.1248767
