Physically Based Simulation Model for Acoustic Sensor Robot Navigation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mobile robot sonar for target localization and classification
International Journal of Robotics Research
Mobile robots (2nd ed.): inspiration to implementation
Mobile robots (2nd ed.): inspiration to implementation
Ultrasonic Nondestructive Evaluation Systems: Models and Measurements
Ultrasonic Nondestructive Evaluation Systems: Models and Measurements
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We developed an embedded system by which to simultaneously measure the distances to two target objects, such as an obstacle and a wall. The embedded system incorporates a set of ultrasound sensors, analog circuits, and a microcomputer to automatically measure the distances to the two targets, and displays the information on a liquid crystal display. For a single target, a large iron-plate wall, at a distance of from 0.5 to 2.75m, the percentage error in the detected distance was less than 5%. For two targets, such as an acrylic resin cylinder (object 1) in front of a wall (object 2), the percentage error in the detected distances was less than 5% in most cases. In some cases, however, there were significant measurement errors. Nevertheless, since the proposed measurement system revealed the exact distance in the majority of cases, this system could be applied to industrial and autonomous moving robots.