A Mobile Robot Sonar System

Abstract

In order to function autonomously in the real world a mobile robot must first be able to sense the boundaries of it's operating space. Once the enclosing features and/or obstacles have been sensed they must be interpreted and represented in some way meaningful to the robot's controlling algorithms. The objective of this work is the development of a system of ultrasonic sensors, or sonars, for the mobile robot YAMABICO-11 at the Naval Postgraduate School, and the implementation of a user friendly set of sonar language functions for the robot's control language MML. The sonar hardware includes twelve transducer pairs, their drivers and a bus mounted control card. The sonar control system operates autonomously under direction of the robot's central processor. Extraction of linear features is accomplished by the use of a least-square-fit algorithm of cartesian coordinate pairs to a parametric representation of the including line segment.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1991
Accession Number
ADA245174

Entities

People

  • Solomon R. Sherfey Iii

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Underwater Vehicles
  • Boundaries
  • Cartesian Coordinates
  • Classification
  • Collision Avoidance
  • Collision Avoidance Systems
  • Computer Programming
  • Computer Science
  • Computers
  • Coordinate Systems
  • Dynamic Tests
  • Language
  • Navigation
  • Operating Systems
  • Range Finding
  • Transducers

Readers

  • Computer Science.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space
  • Space - Satellites
  • Space - Spacecraft Maneuvers