A SPATIAL SAMPLING CRITERION FOR SONAR OBSTACLE DETECTION

This correspondence describes a spatial sampling criterion for sonar systems that allows all obstacles within a given radius from the sensor to be detected. The environment considered is a two-dimensional floor plan that is extended into the third dimension, in which the scanning is performed in the horizontal plane. In this environment, edge-like reflectors, such as edges of doors or doorways, and oblique surfaces are the most difficult to detect. By considering the physics of sound propagation, we determine the sonar scanning density required to detect these objects. An experimental verification is included. The limitations of detecting objects with sonar in a more general environment are discussed. These results can used to determine the necessary spacing in a transducer ring array and the maximum step size that a mobile robot can translate without danger of collision. © 1990 IEEE