Sophisticated mobile robot sonar sensing with pseudo-random codes

被引：54

作者：

Jörg, KW ^{[1
]}

Berg, M ^{[1
]}

机构：

[1] Univ Kaiserslautern, Dept Comp Sci, Robot Res Grp, D-67653 Kaiserslautern, Germany

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1998年 / 25卷 / 3-4期

关键词：

sonar sensing; crosstalk; pseudo-random codes; correlation; matched filter;

D O I：

10.1016/S0921-8890(98)00053-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Conventional time-of-flight sonar sensing is widely used within the autonomous mobile robot research community. One of its most severe problems is known as crosstalk. This paper presents experimental results of a new approach which allows one to operate a set of sonar sensors simultaneously. Nevertheless, frequent misreadings caused by crosstalk or external ultrasound sources are eliminated. This is achieved by carefully designing the emitted bursts, i.e. by using appropriate pseudo-random sequences together with a matched filter receiver well known from radar applications. (C) 1998 Elsevier Science B.V. All rights reserved.

引用

页码：241 / 251

页数：11