Optimally overlapped ultrasonic sensor ring design for minimal positional uncertainty in obstacle detection

Kim, Sungbok; Kim, Hyunbin

doi:10.1007/s12555-010-0613-x

Cited by 16 publications

(6 citation statements)

References 12 publications

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“…In additional, to use an ultrasonic sensor in a wrong position can compromise its application. In some cases, to reduce positional uncertainty, more ultrasonic sensors are applied (Kim, 2010).…”

Section: = Ctmentioning

confidence: 99%

System for Mapping an Estimate Zone of Actuation of Ultrasonic Sensors

Oliveira¹,

Stoppa²,

Saad³

2015

Anais Do Congresso Nacional De Matemática Aplicada À Indústria

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It is possible to see a considerable growth in the application of sensors in processes and products, seeking for automation, quality gain or to increase safety. Among the vast array of sensors, one of the most used is the ultrasonic sensor. It works based on a measurement of the time spent by a sound wave that travels from a transmitter transducer, reflects on the surface of an object and returns to a detector, commonly used for determining distance. Despite being a well-known principle, it is not trivial to determine the total coverage space of the ultrasonic sensor. Companies that produce ultrasonic sensors, generally, specify the actuation distance or the range of the sensor in its datasheet. However, the information about the working space of the sensors is not presented, only a linear distance or a planar region of operation is shown. Considering projects where the 3D zone of actuation of the sensor is essential, this paper presents a system capable of measuring this zone for ultrasonic sensors, thus ensuring greater reliability in their application in situations that requires security. To define the region where the ultrasonic waves can detect an object, a system was developed, allowing the mapping of the three-dimensional zone. The system consists of a metal structure, on which a robot, built with LEGO©'s kit, positioning an object that can be captured by the ultrasonic sensor. The object moves in three mutually perpendicular axes, making a right prism with a rectangular base (1m x 1m x 4m). The ultrasonic sensor is positioned in the center of the first plane and captures the object moving in the structure space. After the mapping it was possible to generate a graphic with the estimate zone of activity of the sensor, which helped to define the beam of the sensor, contributing in the identification of the opening angle and maximum range of detection. This method can be also performed for evaluation of sensors applied in vehicular safety systems, identifying the safe zone of operation.

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Section: = Ctmentioning

confidence: 99%

System for Mapping an Estimate Zone of Actuation of Ultrasonic Sensors

Oliveira¹,

Stoppa²,

Saad³

2015

Anais Do Congresso Nacional De Matemática Aplicada À Indústria

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“…The types of sensors used in the localization of mobile robots include laser sensors [1,2,3], visional sensors [4,5,6], infrared sensors [7], RFID (Radio Frequency Identification Devices) [8] and ultrasonic sensors [9,10], which compared with other sensors is the most robust and low-cost distance detection device [11]. The sound waves emitted by an ultrasonic sensor encompasses a fan-shaped area, the angle of which is defined as the divergence angle, and all objects that fall within this region can be detected.…”

Section: Introductionmentioning

confidence: 99%

“…Noykov and Roumenin [11] experimentally outlined an orientational probability graph for the divergence angle of an ultrasonic sensor and proposed an ultrasonic sensor edge detection method based on polaroid ultrasonic sensors. Kim and Kim [10] put forward a dual-ultrasonic sensor overlapping area distance detection method, which effectively decreased the influence of the divergence angle on the ranging accuracy of ultrasonic sensors, allowing for the precise localization of the posture of the car-like robot. Bin Liang et al [13] brought forward the lateral localization method that employed two ultrasonic sensors installed on one side of the robot and considered the incident angle.…”

Section: Introductionmentioning

confidence: 99%

Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors

Zhang

Huang

et al. 2016

Sensors

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Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of the ultrasonic sensor relative to the inclined plate reference frame. The ultrasonic sensor scanning method is then leveraged for the omni-directional localization of a mobile robot, where the ultrasonic sensors are installed on a mobile robot and follow the spin of the robot, the inclined plate is recognized and the position and posture of the robot are acquired with respect to the coordinate system of the inclined plate, realizing the localization of the robot. Finally, the localization method is implemented into an omni-directional scanning localization experiment with the independently researched and developed mobile robot. Localization accuracies of up to ±3.33 mm for the front, up to ±6.21 for the lateral and up to ±0.20° for the posture are obtained, verifying the correctness and effectiveness of the proposed localization method.

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“…An ultrasonic sensor can measure the distance to an obstacle present within its conic beam, but the exact location of an obstacle along the corresponding spanning arc remains unknown. To alleviate such a problem of positional uncertainty, we proposed to use a relatively smaller number of low directivity ultrasonic sensors with their beams overlapped [9], [10]. Contrary to a conventional approach using a large number of high directivity ultrasonic sensors, the proposed approach can save the cost for sensor devices and data processing with little performance degradation in obstacle detection.…”

Section: Introductionmentioning

confidence: 99%

Optimal ultrasonic sensor ring with beam overlap for high resolution obstacle detection

Kim

2011

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society

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This paper presents an optimal ultrasonic sensor ring with beam overlap for high resolution obstacle detection of a mobile robot. It is assumed that a set of low directivity ultrasonic sensors of the same type are arranged in a circle of nonzero radius at regular spacings with their beams overlapped. First, the concept of efficient beam overlap among three adjacent ultrasonic sensors is introduced, and the structural restrictions on an overlapped ultrasonic sensor ring for efficient beam overlap are derived. Second, the effective beam width of an overlapped ultrasonic sensor ring are assessed, and the optimal design parameters of an overlapped ultrasonic sensor ring for minimal positional uncertainty are determined. Third, the high resolution obstacle detection based on the inequality relationships among three adjacent obstacle distances is proposed, and using the resulting decision table for uncertainty arc, the outline extraction in a rather complex obstacle environment is performed.

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Optimally overlapped ultrasonic sensor ring design for minimal positional uncertainty in obstacle detection

Cited by 16 publications

References 12 publications

System for Mapping an Estimate Zone of Actuation of Ultrasonic Sensors

System for Mapping an Estimate Zone of Actuation of Ultrasonic Sensors

Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors

Optimal ultrasonic sensor ring with beam overlap for high resolution obstacle detection

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