Ultrasound Sensor Array for Robust Location

José N. Vieira; Sérgio I. Lopes; Carlos A. C. Bastos; Pedro N. Fonseca

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Paper

Ultrasound Sensor Array for Robust Location

In Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 0ICINCO, 84-93, 2007 , Angers, France

Authors: José N. Vieira ; Sérgio I. Lopes ; Carlos A. C. Bastos and Pedro N. Fonseca

Affiliation: Universidade de Aveiro, Portugal

Keyword(s): Ultrasound, Robotics, Localization

Abstract: In this paper we present a system for localizing a team of soccer robots using ultrasound. The proposed system uses chirp signals to obtain a better signal to noise ratio with good time resolution and improved interference immunity. An array of four ultrasonic sensors is used to obtain spatial diversity and reduce the localization error. An efficient DSP algorithm for base-band conversion and decimation of the received pulses is also presented. The proposed system based on the TI DSP 2812 is very efficient and allows the localization of the robots up to 8 meters with an angular error with a maximum standard deviation of 2°.

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Paper citation in several formats:

N. Vieira, J.; I. Lopes, S.; A. C. Bastos, C. and N. Fonseca, P. (2007). Ultrasound Sensor Array for Robust Location. In Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems (ICINCO 2007) - MARS; ISBN 978-972-8865-86-6, SciTePress, pages 84-93. DOI: 10.5220/0001634200840093

@conference{mars07,
author={José {N. Vieira}. and Sérgio {I. Lopes}. and Carlos {A. C. Bastos}. and Pedro {N. Fonseca}.},
title={Ultrasound Sensor Array for Robust Location},
booktitle={Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems (ICINCO 2007) - MARS},
year={2007},
pages={84-93},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001634200840093},
isbn={978-972-8865-86-6},
}

TY - CONF

JO - Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems (ICINCO 2007) - MARS
TI - Ultrasound Sensor Array for Robust Location
SN - 978-972-8865-86-6
AU - N. Vieira, J.
AU - I. Lopes, S.
AU - A. C. Bastos, C.
AU - N. Fonseca, P.
PY - 2007
SP - 84
EP - 93
DO - 10.5220/0001634200840093
PB - SciTePress