Wall following using angle information measured by a single ultrasonic transducer

Teruko Yata, Lindsay Kleeman, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

41 Citations (Scopus)

Abstract

Conventional wall following an ultrasonic sensor uses only range data to the nearest reflecting point. However, the bearing angle information to the wall is more useful for a wall following motion. In this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point. Also, in conventional ultrasonic pulse-echo sensing, an accurate target bearing measurement is often regarded as difficult due to the wide directivity of ultrasonic transducers. However, by assuming that the ultrasonic echo returns from a single direction, the bearing angle can be measured. A new sensing method is also proposed to determine accurately the bearing angle to the reflecting point by a single ultrasonic transducer. This paper also presents experimental results from mobile robot wall following experiments using only bearing information measured by a single ultrasonic transducer. These experiments illustrate the effectiveness of proposed method.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherIEEE
Pages1590-1596
Number of pages7
Volume2
Publication statusPublished - 1998
Externally publishedYes
EventProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium
Duration: 1998 May 161998 May 20

Other

OtherProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)
CityLeuven, Belgium
Period98/5/1698/5/20

Fingerprint

Bearings (structural)
Ultrasonic transducers
Ultrasonics
Ultrasonic sensors
Mobile robots
Experiments
Robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Yata, T., Kleeman, L., & Yuta, S. (1998). Wall following using angle information measured by a single ultrasonic transducer. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1590-1596). IEEE.

Wall following using angle information measured by a single ultrasonic transducer. / Yata, Teruko; Kleeman, Lindsay; Yuta, Shinichi.

Proceedings - IEEE International Conference on Robotics and Automation. ed. / Anon. Vol. 2 IEEE, 1998. p. 1590-1596.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yata, T, Kleeman, L & Yuta, S 1998, Wall following using angle information measured by a single ultrasonic transducer. in Anon (ed.), Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, IEEE, pp. 1590-1596, Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4), Leuven, Belgium, 98/5/16.
Yata T, Kleeman L, Yuta S. Wall following using angle information measured by a single ultrasonic transducer. In Anon, editor, Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. IEEE. 1998. p. 1590-1596
Yata, Teruko ; Kleeman, Lindsay ; Yuta, Shinichi. / Wall following using angle information measured by a single ultrasonic transducer. Proceedings - IEEE International Conference on Robotics and Automation. editor / Anon. Vol. 2 IEEE, 1998. pp. 1590-1596
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