Fast-bearing measurement with a single ultrasonic transducer

Teruko Yata, Lindsay Kleeman, Shin'ichi Yuta

研究成果査読

10 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)1202-1213
ページ数12
ジャーナルInternational Journal of Robotics Research
17
11
DOI
出版ステータスPublished - 1998 1 1

ASJC Scopus subject areas

  • ソフトウェア
  • モデリングとシミュレーション
  • 機械工学
  • 人工知能
  • 電子工学および電気工学
  • 応用数学

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