A method of ultrasonic sensor data integration for floorplan recognition

Author

Ko, Joong Hyup ; Kim, Wan Joo ; Chung, Myung Jin

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea

fYear

1993

fDate

25-27 Aug 1993

Firstpage

346

Lastpage

351

Abstract

A method to estimate the positions of the ultrasonic echo reflection points in the mobile robot´s environment for indoor floorplan recognition is proposed, and experimental results are shown. The method utilizes the wide beamwidth of the ultrasonic sensor by integrating the pulsed echoes measured at different rotation angles of the sensor. The bearing of the reflection points is estimated by using the transmission gain, the reception gain, and the measurement gain of the ultrasonic transducer. The distance to the reflection points is estimated by the correlation detection

Keywords

acoustic imaging; correlation methods; echo; mobile robots; object recognition; path planning; position control; ultrasonic transducers; US echo reflection points; US sensor; correlation detection; indoor floorplan recognition; measurement gain; mobile robots; pulsed echoes; reception gain; rotation angles; transmission gain; ultrasonic sensor data integration; wide beamwidth; Acoustic pulses; Acoustic reflection; Acoustic sensors; Distance measurement; Mobile robots; Optical reflection; Pulse measurements; Sensor phenomena and characterization; Surface waves; Ultrasonic variables measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1993., Proceedings of the 1993 IEEE International Symposium on

Conference_Location

Chicago, IL

ISSN

2158-9860

Print_ISBN

0-7803-1206-6

Type

conf

DOI

10.1109/ISIC.1993.397689

Filename

397689