Low cost ultrasonic sensors for tele‐operated vehicles

Abstract

Describes a new reliable low‐cost ultrasonic ranging system to assist in steering a powered wheelchair. Detection algorithms have been created and implemented on a micro controller based stand‐alone system suitable for a tele‐operated vehicle. The detection uses the gradient of the echo envelope and is resistant to noise and inconsistencies in the detection circuitry. The sensor array was considered as separate sensors, working independently so the system could quickly gather separate sets of range information. These sets were overlaid on to a 2D grid array. The new system is cheaper and simpler than available systems for powered wheelchairs.

A modified sensor fusion framework for quantifying and removing the effect of harsh environmental condition for reliable mobile robot mapping

“…Sonar, laser scanner, stereo vision camera, infrared sensor, etc., are the range sensors required for the perception of the environment (Ivancsits and Ricky Lee, 2013;Bloss, 2012Bloss, , 2013Bloss, and 2015. But the accuracy and reliability of these affirmed range sensors become low when exploited in harsh environmental conditions (Kleeman, 1999;Stott et al, 2000;Rasshofer et al, 2011;Siegwart et al, 2011;Rivero et al, 2017;Hasirlioglu et al, 2017). Various approaches were used in the past to reduce the effect of harsh environmental conditions but still the efficient perception of the environment is not achieved (Loughlin, 2002;Rivero et al, 2017;Siciliano and Khatib, 2016;Hasirlioglu et al, 2017).…”