Hostname: page-component-cd9895bd7-p9bg8 Total loading time: 0 Render date: 2024-12-18T22:20:48.599Z Has data issue: false hasContentIssue false
  • English
  • Français

Recognition of Unreliable Ultrasonic Range Data in a Robotic Environment

Published online by Cambridge University Press:  09 March 2009

P.J. Parnis  and
P.J. Drazan
P.J. Parnis
Affiliation:
Department of Mechanical and Manufacturing Systems Engineering (MEMS)
P.J. Drazan
Affiliation:
University of WalesInstitute of Science and Technology (UWIST), PO Box 25, Cardiff CFl 3XE, Wales (Great Britain)
Get access Rights & Permissions [Opens in a new window]

Summary

The use of ultrasonic range transducers is an inexpensive method of obtaining information about the environment surrounding a robotic System. However, ultrasonic ranging suffers from various shortcomings, one of the major being the production of unreliable data caused by specular reflection.

This work presents an original approach to overcoming the problem of unreliable ultrasonic range data which is caused by specular reflection of the ultrasonic beam. The approach is shown to discriminate between reliable and unreliable data, thus enhancing the role of the ultrasonic range transducer in robotic applications.

Keywords

Ultrasonic dataSpecular reflectionUnreliable dataRobotic environment
Type
Article
Information
Robotica , Volume 7 , Issue 3 , July 1989 , pp. 223 - 229
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Larcombe, M., “Tactile sensors, sonair sensors and parallax sensors for robotic applications” Proc. 6th Int. Symposium on Industrial Robots C3, 25–32 (03, 1976)Google Scholar
2.Crowley, J., “Navigation of an intelligent mobile robot” IEEE J. Robotics and Automation RA–1, 31–41 (03, 1985)CrossRefGoogle Scholar
3.Normoyle, P., “An ultrasonic vision System for use on mobile robots and automated guided vehicles” UK Research in Advanced Manufacture Proc. I. Mech. E. 55–60 (12, 1986)Google Scholar
4.Miller, D., “A spatial representation System for mobile robots” Proc. 1985 IEEE Conference on Robotics and Automation 122–127 (1985).Google Scholar
5.Jorgensen, C. et al., “Autonomous robot navigation” Byte, 223–235 (01, 1985)Google Scholar
6.Jarvis, R., “A perspective on range finding techniques for computer vision” IEEE TRANS. Pattern Analysis and Machine Intelligence PAMI–5, No. 2, 122 (03, 1983)Google Scholar
7.Brooks, R., “Visual map making for a mobile robot” Proc. 1985 IEEE Conference on Robotics and Automation 824–829 (1985).Google Scholar
8.Moravec, H., “High resolution from wide angle sonar” Proc. 1985 IEEE Conference on Robotics and Automation 116–121 (1985).Google Scholar
9.Pomeroy, S. et al. , “Ultrasonic distance measuring and imaging Systems for industrial robots” RoViSeC 5 239–249 (10, 1985)Google Scholar
10.Polaroid Corporation, Ultrasonic Range Finders (Polaroid corporation, USA, 1982).Google Scholar
11.Brown, M., “Feature extraction techniques for recognising solid objects with an ultrasonic range sensor” IEEE J. Robotics and Automation RA–1, 191–205 (12, 1985).Google Scholar