Experimental characterization of Polaroid ultrasonic sensors in single and phased array configuration

Alex Cao; Johann Borenstein

doi:10.1117/12.474456

17 July 2002 Experimental characterization of Polaroid ultrasonic sensors in single and phased array configuration

Alex Cao, Johann Borenstein

Proceedings Volume 4715, Unmanned Ground Vehicle Technology IV; (2002) https://doi.org/10.1117/12.474456
Event: AeroSense 2002, 2002, Orlando, FL, United States

Abstract

Many mobile robots use Polaroid ultrasonic sensors for obstacle avoidance. This paper describes the experimental characterization of these sensors using a unique, fully automated testbed system. Using this testbed, we gathered large data sets of 5,000-16,000 data points in every experiment for characterization purposes; in a repeatable fashion and without human supervision. In the experimental characterization reported in this paper we focused on a comparison of the beamwidth of a single sonar with that of a dual sonar phased array. For the single sonar we found that flat walls trigger echo signals up to an angle of +/- 42 degree(s), which is well beyond the traditional assumed beamwidth of +/- 15 degree(s). We determined that these echoes result from the secondary and tertiary lobe of the well known multi-lobed propagation patterns of Polaroid ultrasonic sensors. In contrast, with the dual sonar phased array echo signals were triggered only up to beamwidths of 4-6 degree(s). The results in this paper were obtained for two test targets: a specular surface and a cylindrical object.

Citation Download Citation

Alex Cao and Johann Borenstein "Experimental characterization of Polaroid ultrasonic sensors in single and phased array configuration", Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); https://doi.org/10.1117/12.474456

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