Abstract
In conventional ultrasonic sensing, accurate ultrasonic target-bearing measurement is often regarded as difficult, due to the wide-beam angle of ultrasonic transducers. However, the accurate measurement of distances and angles is useful for many robot tasks, such as obstacle avoidance and wall following. In this paper, we propose a method for extracting bearing information by using a single transducer in ultrasonic pulse-echo sensing, which basically exploits the dependency of the echo spectrum on bearing angle. The method employs a simple approach using a zero-crossing time interval of the reflected echo, and consequently is a fast measurement technique. This paper also presents experimental results on a real mobile robot and illustrates the usefulness of the ultrasonic bearing-measurement approach.
| Original language | English |
|---|---|
| Pages (from-to) | 1202-1213 |
| Number of pages | 12 |
| Journal | International Journal of Robotics Research |
| Volume | 17 |
| Issue number | 11 |
| Publication status | Published - 1998 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Fast-bearing measurement with a single ultrasonic transducer. / Yata, Teruko; Kleeman, Lindsay; Yuta, Shinichi.
In: International Journal of Robotics Research, Vol. 17, No. 11, 1998, p. 1202-1213.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Fast-bearing measurement with a single ultrasonic transducer
AU - Yata, Teruko
AU - Kleeman, Lindsay
AU - Yuta, Shinichi
PY - 1998
Y1 - 1998
N2 - In conventional ultrasonic sensing, accurate ultrasonic target-bearing measurement is often regarded as difficult, due to the wide-beam angle of ultrasonic transducers. However, the accurate measurement of distances and angles is useful for many robot tasks, such as obstacle avoidance and wall following. In this paper, we propose a method for extracting bearing information by using a single transducer in ultrasonic pulse-echo sensing, which basically exploits the dependency of the echo spectrum on bearing angle. The method employs a simple approach using a zero-crossing time interval of the reflected echo, and consequently is a fast measurement technique. This paper also presents experimental results on a real mobile robot and illustrates the usefulness of the ultrasonic bearing-measurement approach.
AB - In conventional ultrasonic sensing, accurate ultrasonic target-bearing measurement is often regarded as difficult, due to the wide-beam angle of ultrasonic transducers. However, the accurate measurement of distances and angles is useful for many robot tasks, such as obstacle avoidance and wall following. In this paper, we propose a method for extracting bearing information by using a single transducer in ultrasonic pulse-echo sensing, which basically exploits the dependency of the echo spectrum on bearing angle. The method employs a simple approach using a zero-crossing time interval of the reflected echo, and consequently is a fast measurement technique. This paper also presents experimental results on a real mobile robot and illustrates the usefulness of the ultrasonic bearing-measurement approach.
UR - http://www.scopus.com/inward/record.url?scp=0032205971&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0032205971&partnerID=8YFLogxK
M3 - Article
VL - 17
SP - 1202
EP - 1213
JO - International Journal of Robotics Research
JF - International Journal of Robotics Research
SN - 0278-3649
IS - 11
ER -