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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385584