Three Different Approaches for Localization in a Corridor Environment by Means of an Ultrasonic Wide Beam

International Journal of Advanced Robotic Systems

关键词: Sonar Sensors;    Mechatronics Device;    Signal Processing;    Automatic Classification;    Statistical Data Analysis;    Data Fitting;   

DOI  :  10.5772/56112

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper the authors present three methods to detect the position and orientation of an observer, such as a mobile robot, with respect to a corridor wall. They use an inexpensive sensor to spread a wide ultrasonic beam. The sensor is rotated by means of an accurate servomotor in order to propagate ultrasonic waves towards a regular wall. Whatever the wall material may be the scanning surface appears to be an acoustic reflector as a consequence of low air impedance. The realized device is able to give distance information in each motor position and thus permits the derivation of a set of points as a ray trace-scanner. The dataset contains points lying on a circular arc and relating to strong returns. Three different approaches are herein considered to estimate both the slope of the wall and its minimum distance from the sensor. Slope and perpendicular distance are the parameters of a target plane, which may be calculated in each observer's position to predict its new location. Experimental tests and s...

【 授权许可】

CC BY