Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Modeling and Target Classification Using Multiple Reflections of Sonar

초음파의 다중 반사 특성을 이용한 표식 모델 및 분리

  • 권인소 (한국과학기술원 전기전자공학과) ;
  • 이왕헌 (한국과학기술원 전기전자공학과)
  • Published : 2004.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes a sonic polygonal multiple reflection range sensor (SPMRS), which uses multiple reflection properties usually ignored in ultrasonic sensors as disturbances or noises. Targets such as a plane, corner, edge, or cylinder in indoor environments can easily be detected by the multiple reflection patterns obtained with a SPMRS system. Target classification and feature data extraction, such as distance and azimuth to the target, are computed simultaneously by considering the geometrical relationships between the detected targets, and finally the environment model is generated by refining the detected targets. In addition, the narrow field of view of a sonar range sensor is increased and the scanning time is reduced by active motion of the SPMRS stepping servomechanism.

Keywords

References

  1. B. Barshan, and R. KUC, 'Differentiating Sonar reflections from corners and plane by employing an intelligent Sensor,' PAMI, vol. 12, no. 6, pp. 560-569, June. 1990 https://doi.org/10.1109/34.56192
  2. J.J.Hugh and F.Durrant-Whyte, 'Mobile robot Localization by Tracking Geometric Beacons,' IEEE Trans. On Robotics and Automation, vol. 7, no. 3, pp. 376-382, June. 1991 https://doi.org/10.1109/70.88147
  3. 류동연, 박성기, 권인소 '초음파의 다중반사 특성을 이용한 실내공간에서의 목표물 인식에 관한 연구', pp. 1738-1741 KACC 1997
  4. W. H. Lee and I.-S. Kweon, 'A new Ultrasonic Range Sensor Using Multiple Reflections,' ICASE 2002. vol. 8, no. 7, pp. 564-572
  5. D. Lee, 'The map-building and exploration strategies of a simple sonar-equipped robot,' Cambridge Press, 1996, pp. 59
  6. R. Kuc and M. W. Siegel, 'Physically based simulation model for acoustic sensor for robot navigation,' IEEE Trans. on PAMI9, no. 6, pp. 776-777, Nov. 1987
  7. R. Kuc, 'A spatial sampling criterion for sonar obstacle detection,' IEEE Transaction on PAMI. vol. 12, No 7, pp. 686-690, July 1990 https://doi.org/10.1109/34.56211
  8. B. Bashan, B. Ayrulu, and S. W. Utete, 'Neural Network based Target Differentiation Using Sonar for Robotics Applications,' IEEE Trans. R&A vol. 16, no. 4, Aug. 2000 https://doi.org/10.1109/70.864239
  9. Polaroid Corporation Technical Assistance, Ultrasonic Ranging System, 1992