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| Content Provider | IEEE Xplore Digital Library | 
|---|---|
| Author | Manyika, J.M. Durrant-Whyte, H.F. | 
| Copyright Year | 1993 | 
| Description | Author affiliation: Dept. of Eng. Sci., Oxford Univ., UK (Manyika, J.M.; Durrant-Whyte, H.F.) | 
| Abstract | A sonar sensor capable of focus of attention which tracks environment features moving with relative angular velocities up to 0.6 rad/s and linear speeds up to 2.4 m/s is described. The sonar uses a monopulse arrangement of a single transmitter and spaced receiver pair to provide both range and differential target bearing information. The monopulse arrangement is mounted on a high-speed servo which is used to null the monopulse signal and continuously aim the sonar at the center of a region of constant depth. It is shown that the sensor can provide accurate and reliable relative location information for a platform moving at speed through typical indoor environments. The implementation of a localization algorithm which uses this information to enable the device to act as a stand-alone guidance sensor for an associated mobile platform is described. | 
| Starting Page | 424 | 
| Ending Page | 429 | 
| File Size | 516162 | 
| Page Count | 6 | 
| File Format | |
| ISBN | 0818634502 | 
| DOI | 10.1109/ROBOT.1993.292209 | 
| Language | English | 
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) | 
| Publisher Date | 1993-05-02 | 
| Access Restriction | Subscribed | 
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) | 
| Subject Keyword | Vehicles Sonar measurements Sonar navigation Robot sensing systems Sensor phenomena and characterization Sonar detection Mobile robots Acoustic sensors Indoor environments Radar tracking | 
| Content Type | Text | 
| Resource Type | Article | 
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