8 January 1999 3D high-accuracy sonar system for multiple mobile vehicles
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Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335711
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States
This paper presents a new ultrasonic sensor, intended to be used by autonomous mobile vehicles for ranging, localization and mapping of indoor environments. A novel coding method guarantees proper work of the sensor even if multiple vehicles move in the same room or with disturbing ultrasonic noise sources. The sonar sensor system consists of one emitter and three receivers and can detect 3D targets in real-time. Compensating the effects of temperature and humidity, the system produces sub-millimeter range and sub- degree bearing accuracies up to a range of 3 meters. The coding method was developed to maximize the number of different coding signals as well as the noise suppression and to minimize the signal processing overhead. This coding method and the sensor configuration, hardware and signal- processing are described and the experimental results are presented.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Wolfgang Stubenvoll, Wolfgang Stubenvoll, Teodora Dimitrova, Teodora Dimitrova, } "3D high-accuracy sonar system for multiple mobile vehicles", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); doi: 10.1117/12.335711; https://doi.org/10.1117/12.335711

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