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 language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Editors | Anon |
| Publisher | IEEE |
| Pages | 1590-1596 |
| Number of pages | 7 |
| Volume | 2 |
| Publication status | Published - 1998 |
| Externally published | Yes |
| Event | Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium Duration: 1998 May 16 → 1998 May 20 |
Other
| Other | Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) |
|---|---|
| City | Leuven, Belgium |
| Period | 98/5/16 → 98/5/20 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Wall following using angle information measured by a single ultrasonic transducer
AU - Yata, Teruko
AU - Kleeman, Lindsay
AU - Yuta, Shinichi
PY - 1998
Y1 - 1998
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0031635455&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031635455&partnerID=8YFLogxK
M3 - Conference contribution
VL - 2
SP - 1590
EP - 1596
BT - Proceedings - IEEE International Conference on Robotics and Automation
A2 - Anon, null
PB - IEEE
ER -