Ultrasonic Range Finder with Cross-Correlation for Outdoor Mobile Robots.

Tanzawa, Tsutomu; Kiyohiro, Noriaki; Mori, Hideo

doi:10.7210/jrsj.15.542

Cited by 8 publications

(3 citation statements)

References 5 publications

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“…In order for these robots to move freely in an environment, estimating the position and rotation of the robot in the environment is essential. Methods that use ultrasonic sensors, range finders, visual sensors, or other external sensors are known to be effective for estimating the position and rotation of a robot in general. Methods that use visual sensors in particular can acquire large quantities of information about the surrounding environment, including the color and shape of people and objects, all at once, and the acquired information can be used for purposes other than estimation the position and rotation.…”

Section: Introductionmentioning

confidence: 99%

Position and Rotation Estimation for Mobile Robots in Outside of Recording Path Using Ego‐Motion

Hagiwara

Shoji

Imamura

2014

Electrical Engineering Japan

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SUMMARY In this research, estimating the position and rotation of a mobile robot outside of a recording path is realized by applying ego‐motion to view‐based navigation. The ego‐motion is calculated based on the differences in 3D positions of SURF feature points between recording and current images obtained by a Kinect sensor. In conventional view‐based navigation, it is difficult to plan another path when people and objects are found in the recording path. By using the authors’ proposed estimation method, it is possible to realize flexible path planning in actual environments that include people and objects. Based on the results of experiments performed in actual indoor environments, the authors evaluated measurement accuracy for the robot's position and rotation estimated under their method, and confirmed the viability of their method for actual environments including people and objects.

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Section: Introductionmentioning

confidence: 99%

Position and Rotation Estimation for Mobile Robots in Outside of Recording Path Using Ego‐Motion

Hagiwara

Shoji

Imamura

2014

Electrical Engineering Japan

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“…In acoustic applications, Yamane et al have employed pseudo-random pulse sequences to improve the accuracy of sonar systems. 4,5) However, they have not referred to the method of ultrasonic multiple access. In a previous study of ocean acoustic tomography, simultaneous transmissions using multiple M-sequence codes from five transceivers were employed to perform precise measurements of ocean currents.…”

Section: Introductionmentioning

confidence: 99%

Automatic Interference Elimination Algorithm for Ultrasonic Multiple Access Method

Wang

Suginouchi

Hashimoto

et al. 2008

jjap

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Ultrasonic sensing systems are currently used in automobiles and mobile robots. Recently, under conditions of multiple ultrasonic sensing systems operating in a small area, we proposed an ultrasonic multiple access method (UMAM) based on the spectrum-spread technology using M-sequence code. However, the effect of the UMAM depends on the preset threshold level. In this paper, we consider an automatic interference elimination algorithm for UMAM. Under conditions with a known interference-signal ratio, the normalized correlation function between two microphones can be used to investigate the effect of the threshold level in UMAM, and further, the optimal threshold level can be obtained from the maximum value of the normalized correlation function. Using a set of suitable training examples, the approximation function between the optimal threshold and the interference-signal ratio can be obtained. From the experimental results, the automatic interference elimination algorithm is a useful tool.

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“…In acoustic applications, Yamane et al have employed pseudo-random pulse sequences to improve the accuracy of a sonar system. 4,5) However, they have not referred to the method of ultrasonic multiple access. In a previous study of ocean acoustic tomography, simultaneous transmission using multiple M-sequence codes from five transceivers was employed to perform precise measurements of ocean currents.…”

Section: Introductionmentioning

confidence: 99%

Development of Ultrasonic Multiple Access Method Based on M-Sequence Code

Wang

Siginouchi

Hashimoto

et al. 2007

jjap

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Sonar systems are currently used in automobiles or mobile robots. When multiple active sonar systems operate in a small area, ultrasonic interference is a serious problem. In this paper, we propose an ultrasonic multiple access method (UMAM), in order to realize aerial active sonar systems that can operate in an interference environment. From experimental results, the proposed UMAM was shown to be useful for a highly precise measurement in such an interference environment.

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Ultrasonic Range Finder with Cross-Correlation for Outdoor Mobile Robots.

Cited by 8 publications

References 5 publications

Position and Rotation Estimation for Mobile Robots in Outside of Recording Path Using Ego‐Motion

Position and Rotation Estimation for Mobile Robots in Outside of Recording Path Using Ego‐Motion

Automatic Interference Elimination Algorithm for Ultrasonic Multiple Access Method

Development of Ultrasonic Multiple Access Method Based on M-Sequence Code

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