Fast-bearing measurement with a single ultrasonic transducer

Teruko Yata, Lindsay Kleeman, Shinichi Yuta

Research output: Contribution to journalArticle

10 Citations (Scopus)

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 languageEnglish
Pages (from-to)1202-1213
Number of pages12
JournalInternational Journal of Robotics Research
Volume17
Issue number11
Publication statusPublished - 1998
Externally publishedYes

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ASJC Scopus subject areas

  • Control and Systems Engineering

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