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JRM Vol.16 No.1 pp. 44-53
doi: 10.20965/jrm.2004.p0044
(2004)

Paper:

Fast, Accurate Sonar-Ring System

Teruko Yata, Akihisa Ohya, Jun’ichi Iijima,
and Shin’ichi Yuta

Intelligent Robot Laboratory, University of Tsukuba, 1-1-1 Tennodai, Tsukuba 305-8573, Japan

Received:
December 25, 2003
Accepted:
January 15, 2004
Published:
February 20, 2004
Keywords:
sonar-ring, accurate bearing angle, mobile robots
Abstract

Mobile robots often require distance to objects surrounding them for navigation tasks. The sonar ring is widely used to measure distance because it is easy to use and provides distance information all around the robot. Although accurate in range, a sonar ring has difficulty determining bearings to surrounding objects. Conventional sonar rings are slow in covering a full 360 degrees due to sequential driving of transducers for avoiding interference. In this paper, we propose a new sonar-ring sensor system for a mobile robot that can accurately measure bearing angles to objects in a single measurement. The proposed system simultaneously transmits and receives ultrasound in all directions and measures time-of-flight (TOF) differences, achieving fast, accurate measurement of points reflected around a robot. System design and implementation of the proposed sonar ring are also described and the effectiveness of the proposed system shown by experimental results.

Cite this article as:
Teruko Yata, Akihisa Ohya, Jun’ichi Iijima, and
and Shin’ichi Yuta, “Fast, Accurate Sonar-Ring System,” J. Robot. Mechatron., Vol.16, No.1, pp. 44-53, 2004.
Data files:
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