Physically Based Simulation Model for Acoustic Sensor Robot Navigation
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
A physically based navigation strategy for sonar-guided vehicles
International Journal of Robotics Research
Sensor and Navigation System for a Mobile Robot
Intelligent Autonomous Systems, An International Conference
Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Physical Model-Based Analysis of Heterogeneous Environments Using Sonar-ENDURA Method
IEEE Transactions on Pattern Analysis and Machine Intelligence
Object detection for a mobile robot using mixed reality
VSMM'06 Proceedings of the 12th international conference on Interactive Technologies and Sociotechnical Systems
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A spatial sampling criterion for sonar systems that allows all obstacles within a given radius from the sensor to be detected is described. The environment considered is a two-dimensional floor plan that is extended into the third dimension, in which the scanning is performed in the horizontal plane. In this environment, edgelike reflectors, such as edges of doors or doorways, and oblique surfaces are the most difficult to detect. By considering the physics of sound propagation, the sonar scanning density required to detect these objects is determined. An experimental verification is included. The limitations of detecting objects with sonar in a more general environment are discussed. These results can be used to determine the necessary spacing in a transducer ring array and the maximum step size that a mobile robot can translate without danger of collision.