Genetic algorithms with sharing for multimodal function optimization
Proceedings of the Second International Conference on Genetic Algorithms on Genetic algorithms and their application
Differentiating Sonar Reflections from Corners and Planes by Employing an Intelligent Sensor
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pareto OptimalityGA-Easiness and Deception (Extended Abstract)
Proceedings of the 5th International Conference on Genetic Algorithms
Genetic Algorithms for Multiobjective Optimization: FormulationDiscussion and Generalization
Proceedings of the 5th International Conference on Genetic Algorithms
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Ultrasonic sensors (sonars) are widely used in mobile robotics research for local environment perception and mapping. Mobile robot platforms equipped with multiple sonars have been build and used by many researchers. A significant problem with the use of multiple sonars is that, when the sonars are operated concurrently, signal interference occurs, making it difficult to determine which received signal is an echo of the signal transmitted by a given sonar. One way of solving the problem of signal interference is to use different pulse patterns to modulate the signals emitted by the sonars. Furthermore, in order to reduce the time taken to perform measurements, a concurrently operated sonar system is desirable. In this paper, a technique for acquiring suitable modulation pulses for signals emitted in a multi-sonar system is presented. In order to optimize the length of modulation signal, we propose a technique to reduce the probability of erroneous operation due to interference, using the Niched Pareto genetic algorithm (NPGA). The basic technique is illustrated for the case where two or more robots equipped with multiple sonars operate in the same environment.