Analysis and Improvement of an Ultrasonic Sonar System on an Autonomous Mobile Robot.

Abstract

This research addresses the problems experienced by the autonomous mobile robot, Yamabico- 11, with its ultrasonic sonar system. It explains the basics of acoustic theory as related to Yamabico- 11 and explains the sources of limitations imposed on Yamabico- 11 by the physical nature of the problem. This paper documents the basic characteristics of the sonar hardware and examines causes of sonar range errors. Finally, this research leads to improvements of the current sonar system to provide better directional coverage through a new sonar configuration.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1994
Accession Number
ADA300358

Entities

People

  • Jane T. Lochner

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Acoustic Waves
  • Acoustics
  • Autonomous Navigation
  • Central Processing Units
  • Collision Avoidance
  • Computer Programming
  • Computers
  • Coordinate Systems
  • Data Processing
  • Geometry
  • Image Processing
  • Measurement
  • Orientation (Direction)
  • Robotics
  • Robots
  • Sonar Ranging
  • Two Dimensional

Readers

  • Acoustical Oceanography.
  • Marine Ecotoxicology
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy