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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kleeman, L. |
| Copyright Year | 2002 |
| Description | Author affiliation: Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Melbourne, Vic., Australia (Kleeman, L.) |
| Abstract | This paper presents results from a four transducer pulse coded sonar system that performs target localisation in two dimensions and classification into planes, concave corners and convex edges whilst the sensor is in motion. On each sensing cycle two pulses are emitted from separate transmitters, and two receivers collect echoes that are processed using a DSP. The sensor achieves on-the-fly classification by transmitting nearly and simultaneously from the two transmitters. The effects of sensor motion are analysed in the paper and effects on range and bearing estimation can then be compensated using odometry based robot velocity measurements. Results are presented that show classification and angle measurement deviations from a robot moving at speeds up to 1 metre per second. |
| Sponsorship | IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. INRIA Rhone-Alpes Grenoble EPFL Lausanne |
| Starting Page | 178 |
| Ending Page | 183 |
| File Size | 431756 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780373987 |
| DOI | 10.1109/IRDS.2002.1041385 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2002-09-30 |
| Publisher Place | Switzerland |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Sonar Direction of arrival estimation Transmitters Robot sensing systems Velocity measurement Transducers Sensor systems Digital signal processing Motion analysis Goniometers |
| Content Type | Text |
| Resource Type | Article |
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