Authors:
Sungbok Kim
;
Jaehee Jang
and
Hyun Bin Kim
Affiliation:
Hankuk University of Foreign Students, Korea, Republic of
Keyword(s):
Ultrasonic Sensor, Overlapped Beam Pattern, Positional Uncertainty, Obstacle Position, Sensor Model.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper presents the obstacle detection of a mobile robot using an ultrasonic sensor ring with overlapped beam pattern. Basically, it is assumed that a set of ultrasonic sensors are installed at regular intervals along the side of a circular mobile robot of nonzero radius. First, by exploiting the overlapped beam pattern, it is shown that the positional uncertainty inherent to an ultrasonic sensor can be significantly reduced for both single and double obstacle detection. Second, given measured distances from adjacent ultrasonic sensors, the geometric method of computing the position of the detected obstacle with respect to the center of a mobile robot is described. Third, through experiments using our ultrasonic sensor ring prototype, the validity and the performance of the proposed overlapped ultrasonic sensor ring are demonstrated.