The ultrasonic range finder for outdoor mobile robots

Tanzawa, Tsutomu; Kiyohiro, Noriaki; Kotani, Shunsuke; Mori, Hideo

doi:10.1109/iros.1995.525911

Cited by 15 publications

(4 citation statements)

References 7 publications

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“…The sensor unit works using instruments, such as an ultrasonic [10]/ laser range finder [11], image capture equipment [12], and an odometer in the pavement inspection system. The actuator unit [13] is responsible for robot motions and works as a conveyer in the pavement inspection system.…”

Section: Autonomous Robotmentioning

confidence: 99%

The Study in Using an Autonomous Robot for Pavement Inspection

Chang¹,

Tseng²,

Kang³

et al. 2007

Automation and Robotics in Construction &Amp;#8213; Proceedings of the 24th International Symposium on Automation and Robotics

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Traditionally pavement inspections are conducted using manually operated instruments, and hence are very labor-intensive. In this study, the authors propose the idea of using an autonomous robot to perform the pavement inspections, including for evenness and distress. Because inspection instruments are assumed to be mounted on the robot's platform, this robot is capable of inspecting pavement conditions while at the same time planning the upcoming motion path according to the inspection results. Working concurrently in this way significantly reduces the overall inspection time and amount of data to be stored. The authors propose four motion planning methods for robots: a transversal path planning method, a longitudinal path planning method, a random walk method, and an obstacle avoidance method. This paper presents the application of the motion planning methods to different pavement inspection tasks. It also illustrates the inspection process in a predefined inspection area, and in an inspection area that has random obstacles. The results of this research are suitable for use with a commercial robot to achieve the goal of robotic pavement inspections.

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Section: Autonomous Robotmentioning

confidence: 99%

The Study in Using an Autonomous Robot for Pavement Inspection

Chang¹,

Tseng²,

Kang³

et al. 2007

Automation and Robotics in Construction &Amp;#8213; Proceedings of the 24th International Symposium on Automation and Robotics

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show abstract

“…7,9 The feature of this technique is transmitting an unique pattern signal from each sensor, and even if it receives the ultrasonic wave discharged from other transmitters, the cross correlation value does not become large since each pattern is different. In this section, we apply this technique to the developed phased array to realize the simultaneous measurement.…”

Section: Principlementioning

confidence: 99%

“…Ultrasonic sensor is one of the most popular devices for detecting obstacles especially in robotics field because they are inexpensive and have relatively high accuracy [4][5][6][7][8] To make up a seamless detecting zone, one should equip more than 10 sensor elements around the robot. This kind of usage, however, there are two problems for our purpose.…”

Section: Introductionmentioning

confidence: 99%

Ultrasonic phased array sensor for electric travel aids for visually impaired people

Takahashi

Jeong

2007

SPIE Proceedings

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An ultrasonic phased array sensor system is developed. The system has high capability on azimuthal resolution and plural obstacles detection, and is considered as a sensing system of an electric travel aids for visually impaired people. The developed phased array consists of multiple sound tubes to avoid the grating lobe problem even if one uses large size of ultrasonic sensor elements. To measure plural obstacles in different direction at one time, we applied a method that uses coded transmitting pulse trains to the phased array transmitter. The method reduces the interference between ultrasonic pulses sent out to different directions, and realizes the simultaneous measurement in multiple directions. Experimental results also shown to verify the performance of the phased array.

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“…Aircrafts, pneumatic drills, bridge vibrations or even corona effects in high voltage cables are examples of ultrasonic sources which could render sonar in systems completely useless in certain environments. To overcome these problems, the research with ultrasonic sensors outdoors, has evolved to the use of special signal processing techniques such as the continuous transmission frequency modulated (CTFM) ultrasonic sensor used for path edge detection (Ratner & McKerrow, 2003), the use of crosscorrelation with transmitted patterns for an outdoor sonar (Tanzawa et al, 1995) or the wind compensation method based on differential emitters for a positioning system (Jiménez & Seco, 2005). The first part of this chapter describes in detail the phenomenology associated with the propagation of acoustic waves in the atmosphere, placing an emphasis on the effects of the different mechanisms over the entire range of ultrasonic frequencies used in air.…”

Section: Introductionmentioning

confidence: 99%