Title :
Bat-like sonar system strategies for mobile robots
Author :
Barshan, Billur ; Kuc, Roman
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Abstract :
An investigation is made of the prey capture problem in an uncluttered environment for a mobile robot equipped with a wide-beam sonar system. An analytical lower bound for the mean capture time is derived by assuming complete information about the prey. Algorithms using qualitative vs. quantitative information are implemented for prey capture, and compared in terms of their mean capture time and capture probability. Although qualitative information is sufficient for prey capture, quantitative information assures more efficient prey capture to be achieved over a broader range of system parameters
Keywords :
mobile robots; position control; sonar; analytical lower bound; bat-like sonar; mean capture time; mobile robots; prey capture problem; sonar system strategies; uncluttered environment; wide-beam sonar; Azimuth; Data mining; Envelope detectors; Intelligent sensors; Mobile robots; Object detection; Sensor phenomena and characterization; Sonar; Transmitters; Virtual manufacturing;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169802
