Title :
A method of ultrasonic sensor data integration for floorplan recognition
Author :
Ko, Joong Hyup ; Kim, Wan Joo ; Chung, Myung Jin
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
A method to estimate the positions of the ultrasonic echo reflection points in the mobile robot´s environment for indoor floorplan recognition is proposed, and experimental results are shown. The method utilizes the wide beamwidth of the ultrasonic sensor by integrating the pulsed echoes measured at different rotation angles of the sensor. The bearing of the reflection points is estimated by using the transmission gain, the reception gain, and the measurement gain of the ultrasonic transducer. The distance to the reflection points is estimated by the correlation detection
Keywords :
acoustic imaging; correlation methods; echo; mobile robots; object recognition; path planning; position control; ultrasonic transducers; US echo reflection points; US sensor; correlation detection; indoor floorplan recognition; measurement gain; mobile robots; pulsed echoes; reception gain; rotation angles; transmission gain; ultrasonic sensor data integration; wide beamwidth; Acoustic pulses; Acoustic reflection; Acoustic sensors; Distance measurement; Mobile robots; Optical reflection; Pulse measurements; Sensor phenomena and characterization; Surface waves; Ultrasonic variables measurement;
Conference_Titel :
Intelligent Control, 1993., Proceedings of the 1993 IEEE International Symposium on
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-1206-6
DOI :
10.1109/ISIC.1993.397689
