Title :
Ultrasonic potential field sensor for obstacle avoidance
Author :
Veelaert, Peter ; Bogaerts, Wim
Author_Institution :
Dept. of INWE, Hogeschool Ghent, Belgium
fDate :
8/1/1999 12:00:00 AM
Abstract :
We introduce an ultrasonic sensor system that measures artificial potential fields (APFs) directly. The APF is derived from the traveling-times of the transmitted pulses. Advantages of the sensor are that it needs only three transducers, that its design is simple, and that it measures a quantity that can be used directly for simple navigation, such as collision avoidance
Keywords :
mobile robots; path planning; ultrasonic transducers; artificial potential fields; obstacle avoidance; simple navigation; traveling-times; ultrasonic potential field sensor; Collision avoidance; Gravity; Mobile robots; Navigation; Pulse measurements; Robot sensing systems; Sensor systems; Ultrasonic transducers; Ultrasonic variables measurement; Wheelchairs;
Journal_Title :
Robotics and Automation, IEEE Transactions on
