DocumentCode :
2586164
Title :
A sonar system using a sparse broadband 3D array for robotic applications
Author :
Steckel, Jan ; Boen, Andre ; Peremans, Herbert
Author_Institution :
FTEW-MTT, Univ. of Antwerp, Antwerp, Belgium
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
3223
Lastpage :
3228
Abstract :
We describe how, by combining broadband beamforming with a sparse, random array of receivers, we have constructed a low-cost, yet powerful, in-air sonar system which is suited for a wide range of robotic applications. In particular, we show how simple array beamforming techniques allow for the generation of 3D spatial filters that can be used to accurately localize objects in a large field of view without the need for mechanical scanning. Experimental validation of the sensor´s capacity to produce 3D location measurements in the presence of multiple highly overlapping echoes is presented.
Keywords :
array signal processing; robots; sonar arrays; sonar signal processing; spatial filters; 3D location measurements; 3D spatial filters; array beamforming techniques; broadband beamforming; in-air sonar system; overlapping echoes; robotic applications; sparse broadband 3D array; Arrays; Azimuth; Microphones; Robot sensing systems; Sonar measurements; Sonar navigation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385584
Filename :
6385584
Link To Document :
بازگشت