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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Obstacle Identification by Parabolic Curve Fitting using Ultrasonic Sensors Arranged on Ring Frame

링 프레임형 초음파 센서의 포물선 피팅에 의한 장애물 식별

  • Jang, Jin-Su (R&D Department 1Gumi plant, Hanwha Corp.) ;
  • Park, Tai-Jin (JATCO Korea Engineering Corp.) ;
  • Lim, Zhong-Soo (Research Institute of Industrial Science and Technology) ;
  • Joo, Moon-G. (Dept. Information and Communications Engineering, Pukyong Nat. University)
  • Received : 2012.03.14
  • Accepted : 2012.08.30
  • Published : 2012.10.01
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Abstract

This paper proposes a new algorithm for ultrasonic sensors arranged on ring frame to identify obstacles surrounding itself by TOFs (time of flight). The ring frame has multiple channels consisting of a transmitter and a receiver. When the transmitter of a selected channel transmits ultrasonic signal, the TOFs of reflected signals from obstacles are acquired by the receiver of the channel. The process continues for all channels consecutively. Then, by using parabolic curve fitting of TOFs of all channel, the proposed algorithm not only calculates distances from multiple obstacles, but also identifies if the shape of obstacles are point or plane by the coefficients of the curve. By the experiment using 16 ultrasonic transceivers on the ring frame in the environment of two poles and two planes, we show the feasibility of the proposed scheme.

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References

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