MOBILE ROBOT SONAR FOR TARGET LOCALIZATION AND CLASSIFICATION

被引:176
作者
KLEEMAN, L [1 ]
KUC, R [1 ]
机构
[1] YALE UNIV, DEPT ELECT ENGN, INTELLIGENT SENSORS LAB, NEW HAVEN, CT 06520 USA
关键词
D O I
10.1177/027836499501400401
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
A novel sonar array is presented that has applications in mobile robotics for localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 m. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 0.1 degrees in still air Targets separated by 10 mm in range can be discriminated. The error covariance matrix for these measurements is derived to allow fusion with other sensors. Targets are statistically classified into four reflector types: planes, corners, edges, and unknown. This article establishes that two transmitters and two receivers are necessary and sufficient to distinguish planes, corners, and edges. A sensor array is presented with this minimum number of transmitters and receivers. A novel design approach is used such that the receivers are closely spaced so as to minimize the correspondence problem of associating different receiver echoes from multiple targets. A linear filter model for pulse transmission, reception, air absorption, and dispersion is used To generate a set of templates for the echo as a function of range and bearing angle. The optimal echo arrival lime is estimated from the maximum cross-correlation of the echo with the templates. The use of templates also allows overlapping echoes and disturbances to be rejected. Noise characteristics are modeled for use in the maximum likelihood estimates of target range and bearing. Experimental results are presented to verify assumptions and characterize the sensor.
引用
收藏
页码:295 / 318
页数:24
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