지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 934 - 939 (6page)
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초록· 키워드
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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.
목차
Abstract
I. INTRODUCTION
II. MOBILE ROBOT
III. ESTIMATING THE DISTANCE AND THE ANGLE OF AN OBSTACLE BY PARABOLIC CURVE FITTING
IV. IDENTIFICATION OF OBSTACLE SHAPE
V. CONCLUSIONS
REFERENCES
참고문헌 (12)
참고문헌 신청
1. [학술지(정기간행물)] - A. M. Sabatini / 1997 / Correlation receivers using Laguerre filter banks for modeling narrowband ultrasonic echoes and estimating their time-of-flights / IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control 44 (6) : 1253 ~ 1263
2. [학술지(정기간행물)] - H. Peremans / 1993 / A highresolution sensor based on tri-aural perception / IEEE Transactions on Robotics & Automatio 9 (1) : 36 ~ 48
3. [학술대회논문] - L. Kleeman / 1999 / Fast and accurate sonar trackers using double pulse coding / IEEE/RSJ International Conference on Intelligent Robots and Systems 2 : 1185 ~ 1190
4. [학술대회논문] - 유타신이치 / 1999 / A Fast and Accurate Sonar-ring Sensor for a Mobile Robot / Proceeding of the1999 IEEE International Conference on Robotics&Automation 1 : 630 ~ 636
6. [학술대회논문] - L. Kleeman / 1992 / Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead-rocking / Proc. of the 1992 IEEE International Conference on Robotics & Automation 3 : 2582 ~ 2587
2. [학술지(정기간행물)] - H. Peremans / 1993 / A highresolution sensor based on tri-aural perception / IEEE Transactions on Robotics & Automatio 9 (1) : 36 ~ 48
3. [학술대회논문] - L. Kleeman / 1999 / Fast and accurate sonar trackers using double pulse coding / IEEE/RSJ International Conference on Intelligent Robots and Systems 2 : 1185 ~ 1190
4. [학술대회논문] - 유타신이치 / 1999 / A Fast and Accurate Sonar-ring Sensor for a Mobile Robot / Proceeding of the1999 IEEE International Conference on Robotics&Automation 1 : 630 ~ 636
6. [학술대회논문] - L. Kleeman / 1992 / Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead-rocking / Proc. of the 1992 IEEE International Conference on Robotics & Automation 3 : 2582 ~ 2587
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UCI(KEPA) : I410-ECN-0101-2014-569-001112760