Continuous sonar sensing for mobile mini-robots

Klahold J, Rautenberg J, Rückert U (2002)
In: Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. 1. 323-328.

Conference Paper | Published | English

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Abstract
Ultrasonic sensors enable mobile autonomous systems to obtain information about obstacles in large environments. In the presented work, a 5cm broad array of three piezo-ceramic ultrasonic transducers is employed for getting two-dimensional impressions of the surroundings. Deviating from the pulse echo measurement techniques used so far the time-continuous transmitting and receiving from modulated pseudo-random sequences are regarded. Thus the narrow bandwidth of a piezo-ceramic transducer can be compensated by an increased measuring period. An advanced analysis of the correlated signals allows the rejection of phantoms caused by multiple reflections. Furthermore, a classification of objects as wall, corner, log or, cylinder is possible.
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Klahold J, Rautenberg J, Rückert U. Continuous sonar sensing for mobile mini-robots. In: Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. Vol 1. 2002: 323-328.
Klahold, J., Rautenberg, J., & Rückert, U. (2002). Continuous sonar sensing for mobile mini-robots. Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, 1, 323-328.
Klahold, J., Rautenberg, J., and Rückert, U. (2002). “Continuous sonar sensing for mobile mini-robots” in Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, vol. 1, 323-328.
Klahold, J., Rautenberg, J., & Rückert, U., 2002. Continuous sonar sensing for mobile mini-robots. In Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. no.1 pp. 323-328.
J. Klahold, J. Rautenberg, and U. Rückert, “Continuous sonar sensing for mobile mini-robots”, Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, vol. 1, 2002, pp.323-328.
Klahold, J., Rautenberg, J., Rückert, U.: Continuous sonar sensing for mobile mini-robots. Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. 1, p. 323-328. (2002).
Klahold, J., Rautenberg, J., and Rückert, Ulrich. “Continuous sonar sensing for mobile mini-robots”. Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. 2002.Vol. 1. 323-328.
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