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JRM Vol.16 No.6 pp. 587-596
doi: 10.20965/jrm.2004.p0587
(2004)

Paper:

Resolving Crosstalk of Sonar by Applying Nonlinear Filter Based on the Sliding Mode

Takanori Emaru, Kazuo Tanaka, and Takeshi Tsuchiya

Tanaka Lab., Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan

Received:
January 30, 2004
Accepted:
April 12, 2004
Published:
December 20, 2004
Keywords:
nonlinear signal processing, ultrasonic wave sensor, autonomous mobile robot, crosstalk, sliding mode
Abstract

Ultrasonic wave sensors are widely used in mobile robots to measure distance. Time-of-flight (TOF) ranging generally used to measure distance measures the round-trip time required for a pulse of emitted energy to travel to a reflecting object and echo back to a receiver. In actual ultrasonic wave sensor (sonar) use, we must consider the existence of multiple sonars in an environment in which one may receive the echo of a signal emitted by other sonars. The receiving sonar cannot determine whether the echo was triggered by its own signal so erroneous distance shorter than actual distance is observed. This problem is generally known as crosstalk. We present a novel way to filter data generated by crosstalk using a nonlinear digital filter based on the sliding mode. Experimental verified show the validity of our proposed method.

Cite this article as:
Takanori Emaru, Kazuo Tanaka, and Takeshi Tsuchiya, “Resolving Crosstalk of Sonar by Applying Nonlinear Filter Based on the Sliding Mode,” J. Robot. Mechatron., Vol.16, No.6, pp. 587-596, 2004.
Data files:
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