A Fast and Accurate Sonar-Ring Sensor for a Mobile Robot

A sonar-ring is one of the most popular sensors for indoor mobile robots, because it is simple and gives omni-directional distance information directly. However, it is dicult to measure the accurate direction of re ecting points by a conventional sonar-ring sensor. Further more, conventional sonar-ring sensors are slow to get full 360 degrees information due to sequential driving of transducers for avoiding interference. In this paper, we propose a new sonar-ring sensor system for a mobile robot which can measure the accurate bearing angles of re ecting objects in a single measurement. The proposed system employs the measurement by using dierences of time-of- ight and by simultaneous transmit/receive of all directions, and consequently achieved fast measurement. We implemented a prototype of the proposed sonar-ring on a mobile robot. The experimental data show the eectiveness of the proposed system.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Teruko Yata, Akihisa Ohya, Shin'ichi Yuta
• Keywords: Conventional Sonar-ring Sensors, ICRA 1999, Mobile Robot, Robotics, Sonar-ring Sensor