A novel configuration of ultrasonic sensors for mobile robots

Author

Tsuzuki, Fabio ; Sasaki, Ken

Author_Institution

Dept. of Precision Machinery Eng., Tokyo Univ., Japan

Volume

3

fYear

1994

fDate

12-16 Sep 1994

Firstpage

2080

Abstract

This paper introduces a new arrangement of ultrasonic sensors for mobile robots. The sensors employ a special configuration to widen the obstacle detection range. The sensors are placed at the front of the mobile robot, on left and right sides, and each sensor is pointed toward a predetermined direction in such a way as to cover the entire area in front of the mobile robot. The configuration can be used for navigation and obstacle avoidance while a robot moves along a desired path. This novel configuration is based on sensor radiation beam patterns and on the characteristics of the ultrasonic wave reflection. The paper describes some experiments comparing the conventional ring and line configurations with this novel configuration

Keywords

mobile robots; navigation; path planning; ultrasonic transducers; mobile robots; navigation; obstacle avoidance; obstacle detection range; sensor radiation beam patterns; ultrasonic sensors; ultrasonic wave reflection; Acoustic beams; Acoustic sensors; Machinery; Mechanical sensors; Mobile robots; Navigation; Optical reflection; Robot sensing systems; Sensor phenomena and characterization; Transmitters;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407578

Filename

407578