3D Object localization by using sonarhead inspired from CF-FM bats

This paper presents a 3D localization system inspired from the CF-FM (constant frequency-frequency modulated) bats. It is based on a 6 DOFs platform which has one transmitter and two receivers, which aimed at being used on mobile robots. The target tracking method is as follows. Firstly, emitting CF ultrasound to acquire the drift angle approximately, and then FM ultrasound is produced to get the detail information of the target. The interaural amplitude difference (IAD), is used as the basic position evaluating parameter during the simulation. MATLAB is used as the simulation environment and the DREAM toolbox is used to build up the ultrasound field. The simulation result shows that CF-FM method can reduce the measurement data as well as keep a high accuracy, which may improve the real-time ability of this sensor-based system.