Removal of sonar wave interference in multi-robot system for the efficient SLAM by randomized triggering time technique

Abstract

<jats:sec> <jats:title content-type="abstract-subheading">Purpose</jats:title> <jats:p>Sonar sensor-based mobile robot mapping is an efficient and low cost technique for the application such as localization, autonomous navigation, SLAM and path planning. In multi-robots system, numbers of sonar sensors are used and the sound waves from sonar are interacting with the sound wave of other sonar causes wave interference. Because of wave interference, the generated sonar grid maps get distorted which resulted in decreasing the reliability of mobile robot’s navigation in the generated grid maps. This research study focus in removing the effect of wave interfaces in the sonar mapping to achieve robust navigation of mobile robot.</jats:p> </jats:sec> <jats:sec> <jats:title content-type="abstract-subheading">Design/methodology/approach</jats:title> <jats:p>The wrong perception (occupancy grid map) of the environment due to cross talk/wave interference is eliminated by randomized the triggering time of sonar by varying the delay/sleep time of each sonar sensor. A software-based approach randomized triggering technique (RTT) is design in laboratory virtual instrument engineering workbench (LabVIEW) that randomized the triggering time of the sonar sensor to eliminate the effect of wave interference/cross talk when multiple sonar are placed in face-forward directions.</jats:p> </jats:sec> <jats:sec> <jats:title content-type="abstract-subheading">Findings</jats:title> <jats:p>To check the reliability of the RTT technique, various real-world experiments are perform and it is experimentally obtained that 64.8% improvement in terms of probabilities in the generated occupancy grid map has been attained when compared with the conventional approaches.</jats:p> </jats:sec> <jats:sec> <jats:title content-type="abstract-subheading">Originality/value</jats:title> <jats:p>This proposed RTT technique maybe implementing for SLAM, reliable autonomous navigation, optimal path planning, efficient robotics vision, consistent multi-robotic system, etc.</jats:p> </jats:sec>

Design and Reliability Analysis of a Tunnel-Detection AUV Based on a Heterogeneous Dual CPU Hot Redundancy System

“…AUV-T is equipped with ranging sonars on the fore and stern. In order to avoid echo interference from sonars in narrow tunnels [11], eight ranging sonars adopt a weighted round robin mode, so it is impossible to obtain all the sonar data at the same time. The data fusion module performs time registration on the sonar data in the same direction.…”