Continuous sonar sensing for mobile mini-robots
Continuous sonar sensing for mobile mini-robots
复制标题
用于移动微型机器人的连续声纳传感
DOI：
10.1109/robot.2002.1013381
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Ulrich Rückert
中科院分区：
文献类型：
--
作者：
J. Klahold;Jens Rautenberg;Ulrich Rückert
超声波传感器使移动的自主系统能够获得关于大环境中障碍物的信息。在所提出的工作中，一个5厘米宽的阵列的三个压电陶瓷超声换能器用于获得二维的印象的环境。与目前使用的脉冲回波测量技术不同，考虑了时间连续的调制伪随机序列的发射和接收。因此，可以通过增加测量周期来补偿压电陶瓷换能器的窄带宽。对相关信号的高级分析允许拒绝由多次反射引起的幻影。此外，还可以对物体进行分类，如墙壁、角落、原木或圆柱体。
Ultrasonic sensors enable mobile autonomous systems to obtain information about obstacles in large environments. In the presented work, a 5 cm broad array of three piezo-ceramic ultrasonic transducers is employed for getting two-dimensional impressions of the surroundings. Deviating from the pulse echo measurement techniques used so far the time-continuous transmitting and receiving from modulated pseudo-random sequences are considered. Thus the narrow bandwidth of a piezo-ceramic transducer can be compensated by an increased measuring period. An advanced analysis of the correlated signals allows the rejection of phantoms caused by multiple reflections. Furthermore, a classification of objects such as wall, corner, log or cylinder is possible.