Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot

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Naval Postgraduate School, Available from National Technical Information Service , Monterey, Calif, Springfield, Va About the Edition

This research addresses the problems experienced by the autonomous mobile robot, Yamabico- 11, with its ultrasonic sonar system. It explains the basics of acoustic theory as related to Yamabico- 11 and explains the sources of limitations imposed on Yamabico- 11 by the physical nature of the problem. This paper documents the basic characteristics of the sonar hardware and examines causes of sonar range errors. Finally, this research leads to improvements of the current sonar system to provide better directional coverage through a new sonar configuration.

StatementJane T. Lochner
The Physical Object
Pagination107 p. ;
ID Numbers
Open LibraryOL25518642M

Calhoun: The NPS Institutional Archive Theses and Dissertations Thesis Collection Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot.

Analysis and improvement of an ultrasonic sonar system on December Pages: Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot. By Jane Thayer Lochner.

Description Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot PDF

Download PDF (6 MB) Abstract. Approved for public release; distribution research addresses the problems experienced by the autonomous mobile robot, Yamabico- 11, with its ultrasonic sonar system.

Author: Jane Thayer Lochner. Mobile robot locaiization using a single rotating sonar and two cylindrical beacon. Robot pp. Beom, H. A study on the AI-based navigation and obstacle detection for mobile robots. Ph.D. Dissertation, KAIST. Cox, 1. Blanche -an experiment in guidance and navigation of an autonomous robot by: 6.

“A navigation Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot book using ultrasonic sensors for the mobile robot HILARE” In Proc.

1st Int. Conf. on on Robot Vision and Sensory Controls: Apr. Google Scholar 6. Brooks, R. “A robust layered control system for mobile robots, Workshop on Sensing and Control for Mobile Robots, Organised by Joint Coordinating Forum for Technology Cited by: 2.

This paper presents a method for measuring the relative position and orientation between two mobile robots using a dual binaural ultrasonic sensor system. Each robot is equipped with a sonar.

The sonar mapping procedures have been implemented as part of an autonomous mobile robot navigation system called Dolphin. analysis algorithm using ultrasonic sensors is.

The sonar mapping procedures have been implemented as part of an autonomous mobile robot navigation system called Dolphin. The major modules of this system. For the sake of simplicity, henceforth, the range readings provided by the robot's operating system from the Polaroid sensors will be referred to as, simply, the sensor (or the sonar) readings.

The presented analysis is based on the experimental evaluation of the following sensor parameters: resolution, minimum and maximum range, maximum angle. ELSEVIER Robotics and Autonomous Systems 14 () Robotics and Autonomous Systems Sonar sensing for low-cost indoor mobility Gisbert Lawitzky *, Wendelin Feiten, Marcus Mer Siemens AG, ZFE T SN4, Otto-Hahn-Ring 6, Munich, Germany Abstract Low-cost autonomous mobility poses an important challenge on the way to new robot applications.

ELSEVIER Robotics and Autonomous Systems 25 () Robotics and Autonomous Systems Sophisticated mobile robot sonar sensing with pseudo-random codes Klaus-Werner J6rg *, Markus Berg 1 Computer Science Department, Robotics Research Group, Kaiserslautern University, PO BoxKaiserslautern, Germany Abstract Conventional time-of-flight sonar.

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The mobile robot examines the straight line segments extracted from the sonar range data describing obstacles near the robot.

The mobile robot then moves parallel to the straight line sonar segments, in close proximity to the obstacles, continually applying the sonar barrier test.

The sonar barrier test exploits the physical constraints of. In the field of mobile robotics, the process of robot localization and global trajectory planning in robot operating scenes, that are completely or partially known, represents one of the main issues that are essential for providing the desired robot functionality.

This paper introduces the basic elements of path planning for an autonomous mobile robot equipped with sonar sensors, operating in. Figure 3 shows the robot and environmental setup being done to m onitor the mobile robot poses in a known static environment.

Four landmarks is set as B1, B2, B 3, ad B4. 2. Related work The initial development of autonomous systems concentrated on ground vehicles and the use of ultrasonic sensors for obstacle detection and avoidance.

Kadogoda et al. () proposed a ground robot using a stepping motor to control a single rotating ultrasonic sensor with a field of view of degrees. Now Add the physical sonar to your robot so that the sensor faces forward. Use the example code in the Ultrasonic RangeFinder (physical robot!!) folder that is entitled Forward until Close Proximity.

If that works, try using the Smooth Sonar Tracking in the same folder to do it again with more style. computation cf sonar tasks with other CPU tasks. The sonar hardware system controls the robot's array of sonar range finders.

A photo of the Y amabico is given in Figure 1. The transmit/receive cones are visible at each corner of the support frame. Figure 2 shows the current hardware configuration. Figure 1: The Autonomous Mobile Robot. A method to improve navigational precision of an autonomous mobile robot is presented.

With the use of a world model and ultrasonic sensors, the robot operates in a static environment consisting of orthogonal polyhedra.

The ultrasonic sensors are also configured to allow you to easily add in more sensors for better coverage depending on the needs of your robot sensor.

You can learn more on using more than one ultrasonic sensor by reading the following article: Using Multiple MaxSonar Ultrasonic Sensors.

Details Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot PDF

Our ultrasonic sensors for robots interface over many. The mobile robot SMR-1 equipped with five ultrasonic sensors in frontal quadrant was done is a laboratory robot designed to study human-robot interaction in both, contact and non-contact ways. Axis rotations of driving wheels are fixed and coaxial, and each wheel has independent drive.

The movement of the mobile robot is based on the concept of. In this figure, a typical ultrasonic arrangement on the mobile robot is represented, with each ultrasonic sensor named as s i.

In this case, variable d̃ can be calculated through the following equation: (10) d ̃ =±{d wall − min (1 2 (y S 0 +y S 15)),(1 2 (y S 7 +y S 8))}, where minus sign is considered if the wall being followed is at.

Ultrasonic Sensor Autonomous Mobile Robot Basic Probability Assignment Virtual Path Evidential Approach These keywords were added by machine and not by the authors.

This process is experimental and the keywords may be updated as the learning algorithm improves. DOI: / Corpus ID: Directed Sonar Sensing for Mobile Robot Navigation @inproceedings{LeonardDirectedSS, title={Directed Sonar Sensing for Mobile Robot Navigation}, author={J. Leonard and H. Durrant-Whyte}, year={} }.

Ultrasonic sensors for your autonomous programmable robots Ultrasonic sensors: purposes. Just like infrared sensors, ultrasonic sensors are easy to use and reasonably priced. It will therefore come as no surprise to learn that ultrasonic sensors are found in many robotics kits (the Lego Mindstorms NXT kit includes this type of sensor as standard).

This work proposes a new positioning method based on multiple ultrasonic sensors for the autonomous mobile robot. Unlike the conventional ultrasonic positioning methods, this new method can realize higher accuracy ultrasonic positioning without additional temperature information. Three ultrasonic sensors are used for positioning.

A generalized measurement model is established for general. The safe obstacle avoidance is a basic problem on mobile robotics research. The premise of realizing safe obstacle avoidance is achieving the accurate information for obstacle avoidance which provides reliable indication on the surrounding environment for mobile robot obstacle avoidance processing.

The sensors are used to measure and obtain the obstacle avoidance information for obstacle. Current mobile robots that use ultrasonic sensing to follow walls use multiple sensors and use only range to the nearest reflecting point making assumptions about the reflected echo.

In this paper, we describe an advanced wall following algorithm, where the robot follows a wall using a single directed Continuous Transmission Frequency Modulated. Kuc, R."Three dimensional tracking using qualitative sonar," Robotics and Autonomous Systems, vol. 11, pp. – Lee, D.The map-building and exploration strategies of simple sonar-equipped mobile robot, Cambridge University Press.

On Time Informatik GMBHRTKernel Real-time multitasking kernel for C/C++ User’s Manual. This book presents evidence that sonar can in fact fulfill the perception role for the provision of long-term autonomous navigation in a broad class of man-made environments. A new approach to mobile robot navigation is presented that unifies the problems of localization, obstacle detection, and map building in a combined multitarget tracking.

Nowadays, water conveyance tunnels have been an important transportation route in hydraulic engineering. 1 When detecting the wall crack in the water conveyance tunnels, the ability of following the wall at a certain distance is the basic premise of autonomous underwater vehicle’s (AUV’s) safe operation.

2 Ranging sonar is widely used in obtaining the distance of obstacles, its principle. This system has been tested on the Neptune mobile robot at CMU. Introduction. This paper describes a sonar-based mapping system developed for mobile robot navigation.

It was tested in cluttered environments using the Neptune mobile robot @cite(neptune), developed at the Mobile Robot Laboratory of the Robotics Institute, CMU.• working in the Windows operating system.

The robot with particular emphasis on the control systems and the deployment of the sonar head is shown in Figure 1. The main part of the constructed robot – Figure 1 (a) is a catamaran-type vessel m long, m wide, and m high with 6 kg displacement and weight below 15 kg.

The robot is. Motion Control for Mobile Robot Navigation Using Machine Learning: a Survey. 11/26/ ∙ by Xuesu Xiao, et al. ∙ The University of Texas at Austin ∙ 0 ∙ share.

Moving in complex environments is an essential capability of intelligent mobile robots.