Discrete Ultrasonic Sensors for Mobile Autonomous Systems

Klahold J, Löffler A, Rückert U (1999)
In: Proceedings of the 1st International Khepera Workshop: Experiments with the Mini-Robot Khepera (IKW99). Löffler A, Mondada F, Rückert U (Eds);64. Heinz Nixdorf Institut, Universität Paderborn: 171-180.

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Löffler, Axel ; Mondada, Francesco ; Rückert, Ulrich
Abstract
Ultrasonic enables a mobile autonomous system to obtain information about obstacles in large environments. In the presented work, taking the limited energy resources of a mobile robot into account, only one transmitter is used. The employment of two receivers permits the calculation of the distance to and the orientation of a wall, using only time-of-flight measurements. The evaluation procedure consists of basic geometrical calculations, which do not strain the system's calculating power too excessively. The results show that it is possible to place the transmitter and the receivers close together without losing much of the performance. Hence the introduced arrangement of ultrasonic sensors can be used for small systems, e.g. the mini-robot Khepera.
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Klahold J, Löffler A, Rückert U. Discrete Ultrasonic Sensors for Mobile Autonomous Systems. In: Löffler A, Mondada F, Rückert U, eds. Proceedings of the 1st International Khepera Workshop: Experiments with the Mini-Robot Khepera (IKW99). Vol 64. Heinz Nixdorf Institut, Universität Paderborn; 1999: 171-180.
Klahold, J., Löffler, A., & Rückert, U. (1999). Discrete Ultrasonic Sensors for Mobile Autonomous Systems. In A. Löffler, F. Mondada, & U. Rückert (Eds.), Proceedings of the 1st International Khepera Workshop: Experiments with the Mini-Robot Khepera (IKW99) (Vol. 64, pp. 171-180). Heinz Nixdorf Institut, Universität Paderborn.
Klahold, J., Löffler, A., and Rückert, U. (1999). “Discrete Ultrasonic Sensors for Mobile Autonomous Systems” in Proceedings of the 1st International Khepera Workshop: Experiments with the Mini-Robot Khepera (IKW99), ed. A. Löffler, F. Mondada, and U. Rückert, vol. 64, (Heinz Nixdorf Institut, Universität Paderborn), 171-180.
Klahold, J., Löffler, A., & Rückert, U., 1999. Discrete Ultrasonic Sensors for Mobile Autonomous Systems. In A. Löffler, F. Mondada, & U. Rückert, eds. Proceedings of the 1st International Khepera Workshop: Experiments with the Mini-Robot Khepera (IKW99). no.64 Heinz Nixdorf Institut, Universität Paderborn, pp. 171-180.
J. Klahold, A. Löffler, and U. Rückert, “Discrete Ultrasonic Sensors for Mobile Autonomous Systems”, Proceedings of the 1st International Khepera Workshop: Experiments with the Mini-Robot Khepera (IKW99), A. Löffler, F. Mondada, and U. Rückert, eds., vol. 64, Heinz Nixdorf Institut, Universität Paderborn, 1999, pp.171-180.
Klahold, J., Löffler, A., Rückert, U.: Discrete Ultrasonic Sensors for Mobile Autonomous Systems. In: Löffler, A., Mondada, F., and Rückert, U. (eds.) Proceedings of the 1st International Khepera Workshop: Experiments with the Mini-Robot Khepera (IKW99). 64, p. 171-180. Heinz Nixdorf Institut, Universität Paderborn (1999).
Klahold, Jürgen, Löffler, Axel, and Rückert, Ulrich. “Discrete Ultrasonic Sensors for Mobile Autonomous Systems”. Proceedings of the 1st International Khepera Workshop: Experiments with the Mini-Robot Khepera (IKW99). Ed. Axel Löffler, Francesco Mondada, and Ulrich Rückert. Heinz Nixdorf Institut, Universität Paderborn, 1999.Vol. 64. 171-180.
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