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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimization of Code Combination in Multi-Code Ultrasonic Sensors for Multi-Robot Systems

군집로봇을 위한 다중 코드 초음파센서의 코드조합 최적화

  • Moon, Woo-Sung (Department of Electrical and Computer Engineering, Pusan National University) ;
  • Cho, Bong-Su (PRI, LG Electronics) ;
  • Baek, Kwang Ryul (Department of Electrical and Computer Engineering, Pusan National University)
  • 문우성 (부산대학교 전자전기공학과) ;
  • 조봉수 (LG전자 생산기술원) ;
  • 백광렬 (부산대학교 전자전기공학과)
  • Received : 2013.03.28
  • Accepted : 2013.05.17
  • Published : 2013.07.01
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Abstract

In multi-robot systems, ultrasonic sensors are widely used for localization and/or obstacle detection. However, conventional ultrasonic sensors have a drawback, that is, the interference problem among ultrasonic transmitters. There are some previous studies to avoid interferences, such as TDMA (Time Division Multiple Access) and CDMA (Code Division Multiple Access). In multiple autonomous mobile robots systems, the Doppler-effect has to be considered because ultrasonic transceivers are attached to the moving robots. To overcome this problem, we find out the ASK (Amplitude Shift Keying)-CDMA technique is more robust to the Doppler-effect than the BPSK (Binary Phase Shift Keying)-CDMA technique. In this paper, we propose a new code-expression method and a Monte-Carlo based algorithm that optimizes the ultrasonic code combination in the ASK-CDMA ultrasonic system. The experimental results show that the proposed algorithm improves the performance of the ultrasonic multiple accessing capacity in the ASK-CDMA ultrasonic system.

Keywords

References

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