Ultrasonic distance scanning techniques for mobile robots

Pham, Duc Truong, Ji, Ze ORCID: https://orcid.org/0000-0002-8968-9902 and Soroka, Anthony John ORCID: https://orcid.org/0000-0002-9738-9352 2009. Ultrasonic distance scanning techniques for mobile robots. International Journal of Computer Aided Engineering and Technology 1 (2) , pp. 209-224. 10.1504/IJCAET.2009.022787

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Abstract

This paper discusses the application of ultrasound to mobile robot navigation. Two methods employing transducer arrays are described, namely the phased array (PA) method and the maximum-likelihood-estimation (MLE) method. These two methods are compared with the conventional time-of-flight (ToF) method. The paper shows that the PA method has advantages such as giving focused beams and allowing efficient beam steering. Limitations of the method are also discussed, including the need to assume a far-field, the undesired side grating lobes and the unavailability of suitably-sized transmitters. In order to understand the measurement uncertainty, a quantified estimation of the effective range and bearing measurement is calculated. The MLE method has the advantage of only involving one transmitter. The locations of the reflectors employed with this method can be represented in a probability map. Experimental results show that the reliability can be improved through the use of multiple receivers.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Engineering Centre for Advanced Manufacturing Systems At Cardiff (CAMSAC)
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Uncontrolled Keywords:	ultrasonic sensing; phased array; robot navigation; mobile robots; distance scanning; transducer arrays; maximum-likelihood-estimation; MLE; reliability; robot sensors
Publisher:	Inderscience
ISSN:	1757-2657
Last Modified:	21 Oct 2022 08:56
URI:	https://orca.cardiff.ac.uk/id/eprint/34827

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