Calibration and interface of a polaroid ultrasonic sensor for mobile robots

Noykov, Svetoslav; Roumenin, Chavdar

doi:10.1016/j.sna.2006.07.006

Cited by 23 publications

(13 citation statements)

References 5 publications

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“…The minimum HPBW of the DFW was computed to be about 2.5°, which is quite directional compared to general ultrasonic range sensors that have a HPBW of about 18°-50°. 22,23 We now turn to a brief discussion of the spurious difference frequency signals. Figure 9 shows the product pattern of the primary waves ͑black line with black dots͒, computed beam pattern of the direct generation ͑gray dotted line͒, and the measured beam pattern ͑gray line with white dots͒ of the DFW.…”

Section: Beam Patternmentioning

confidence: 99%

A stepped-plate bi-frequency source for generating a difference frequency sound with a parametric array

Lee

Park

et al. 2010

The Journal of the Acoustical Society of America

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An ultrasonic radiator is developed to generate a difference frequency sound from two frequencies of ultrasound in air with a parametric array. A design method is proposed for an ultrasonic radiator capable of generating highly directive, high-amplitude ultrasonic sound beams at two different frequencies in air based on a modification of the stepped-plate ultrasonic radiator. The stepped-plate ultrasonic radiator was introduced by Gallego-Juarez et al. [Ultrasonics 16, 267-271 (1978)] in their previous study and can effectively generate highly directive, large-amplitude ultrasonic sounds in air, but only at a single frequency. Because parametric array sources must be able to generate sounds at more than one frequency, a design modification is crucial to the application of a stepped-plate ultrasonic radiator as a parametric array source in air. The aforementioned method was employed to design a parametric radiator for use in air. A prototype of this design was constructed and tested to determine whether it could successfully generate a difference frequency sound with a parametric array. The results confirmed that the proposed single small-area transducer was suitable as a parametric radiator in air.

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Section: Beam Patternmentioning

confidence: 99%

A stepped-plate bi-frequency source for generating a difference frequency sound with a parametric array

Lee

Park

et al. 2010

The Journal of the Acoustical Society of America

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“…The types of sensors used in the localization of mobile robots include laser sensors [1,2,3], visional sensors [4,5,6], infrared sensors [7], RFID (Radio Frequency Identification Devices) [8] and ultrasonic sensors [9,10], which compared with other sensors is the most robust and low-cost distance detection device [11]. The sound waves emitted by an ultrasonic sensor encompasses a fan-shaped area, the angle of which is defined as the divergence angle, and all objects that fall within this region can be detected.…”

Section: Introductionmentioning

confidence: 99%

“…Noykov and Roumenin [11] experimentally outlined an orientational probability graph for the divergence angle of an ultrasonic sensor and proposed an ultrasonic sensor edge detection method based on polaroid ultrasonic sensors. Kim and Kim [10] put forward a dual-ultrasonic sensor overlapping area distance detection method, which effectively decreased the influence of the divergence angle on the ranging accuracy of ultrasonic sensors, allowing for the precise localization of the posture of the car-like robot.…”

Section: Introductionmentioning

confidence: 99%

Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors

Zhang

Huang

et al. 2016

Sensors

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Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of the ultrasonic sensor relative to the inclined plate reference frame. The ultrasonic sensor scanning method is then leveraged for the omni-directional localization of a mobile robot, where the ultrasonic sensors are installed on a mobile robot and follow the spin of the robot, the inclined plate is recognized and the position and posture of the robot are acquired with respect to the coordinate system of the inclined plate, realizing the localization of the robot. Finally, the localization method is implemented into an omni-directional scanning localization experiment with the independently researched and developed mobile robot. Localization accuracies of up to ±3.33 mm for the front, up to ±6.21 for the lateral and up to ±0.20° for the posture are obtained, verifying the correctness and effectiveness of the proposed localization method.

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“…The navigation using range sensors, namely ultrasonic sensors, infrared sensors, laser scanner, etc., has been recognized as one of the most fundamental and important problems in the increasing applications of autonomous mobile robots [2,[12][13][14]. It is well known that all measurement processes are always accompanied by uncertainty [15] and various uncertainties can be classified into nonstochastic uncertainty and stochastic uncertainty [16].…”

Section: Introductionmentioning

confidence: 99%

Probabilistic Fuzzy Control of Mobile Robots for Range Sensor Based Reactive Navigation

Chen¹,

Xiao²

2011

ICA

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In this paper, a probabilistic fuzzy approach is proposed for mobile-robot reactive navigation using range sensors. The primary motivation is an integrated reactive navigation control system with good real-time performance under uncertainty. To accomplish this aim, a probabilistic fuzzy logic system (PFLS) is introduced to range measurement and reactive navigation in local environments. PFLS is first adopted to handle the fuzzy and stochastic uncertainties in range sensors and to provide more precise distance information in unknown environments. Consequently these sensor data are sent to a probabilistic fuzzy rule-based inference system with reactive behaviors for local navigation. The feasibility and effectiveness of the proposed approach are verified by simulation and the experiments on a real mobile robot

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Calibration and interface of a polaroid ultrasonic sensor for mobile robots

Cited by 23 publications

References 5 publications

A stepped-plate bi-frequency source for generating a difference frequency sound with a parametric array

A stepped-plate bi-frequency source for generating a difference frequency sound with a parametric array

Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors

Probabilistic Fuzzy Control of Mobile Robots for Range Sensor Based Reactive Navigation

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