A Spatial Sampling Criterion for Sonar Obstacle Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Differentiating Sonar Reflections from Corners and Planes by Employing an Intelligent Sensor
IEEE Transactions on Pattern Analysis and Machine Intelligence
Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor
IEEE Transactions on Pattern Analysis and Machine Intelligence
Generation of unknown environment maps by cooperative low-cost robots
AGENTS '97 Proceedings of the first international conference on Autonomous agents
Mobile Robot Relocation from Echolocation Constraints
IEEE Transactions on Pattern Analysis and Machine Intelligence
Map Generation by Cooperative Low-Cost Robots inStructured Unknown Environments
Autonomous Robots - Special issue on autonomous agents
Journal of Intelligent and Robotic Systems
A Physical Model-Based Analysis of Heterogeneous Environments Using Sonar-ENDURA Method
IEEE Transactions on Pattern Analysis and Machine Intelligence
Interpretation of Ultrasonic Readings for Autonomous Robot Localization
Journal of Intelligent and Robotic Systems
A sonar approach to obstacle detection for a vision-based autonomous wheelchair
Robotics and Autonomous Systems
E-Textiles for Autonomous Location Awareness
IEEE Transactions on Mobile Computing
Directional Processing of Ultrasonic Arc Maps and its Comparison with Existing Techniques
International Journal of Robotics Research
A Fast Firing Binaural System for Ultrasonic Pattern Recognition
Journal of Intelligent and Robotic Systems
A qualitative approach to sensor data fusion for mobile robot navigation
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 1
Effective maximum likelihood grid map withconflict evaluation filter using sonar sensors
IEEE Transactions on Robotics
Computers and Electrical Engineering
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A computer model is described that combines concepts from the fields of acoustics, linear system theory, and digital signal processing to simulate an acoustic sensor navigation system using time-of-flight ranging. By separating the transmitter/receiver into separate components and assuming mirror-like reflectors, closed-form solutions for the reflections from corners, edges, and walls are determined as a function of transducer size, location, and orientation. A floor plan consisting of corners, walls, and edges is efficiently encoded to indicate which of these elements contribute to a particular pulse-echo response. Sonar maps produced by transducers having different resonant frequencies and transmitted pulse waveforms can then be simulated efficiently. Examples of simulated sonar maps of two floor plans illustrate the performance of the model. Actual sonar maps are presented to verify the simulation results.