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

Takanori Emaru; Kazuo Tanaka; Takeshi Tsuchiya

doi:10.20965/jrm.2004.p0587

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JRM Vol.16 No.6 pp. 587-596

doi: 10.20965/jrm.2004.p0587

(2004)

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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:

T. Emaru, K. Tanaka, and T. 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.

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References

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[2] N. E. Pears, “An intelligent active range sensor for vehicle guidance: system overview,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 81-88, 1996.
[3] H. Everett, “Sensors for Mobile Robots: Theory and Application,” Wellesley, Massachusetts: A. K. Peters, Ltd., 1995.
[4] H. Moravec, and A. E. Elfes, “High resolution maps from wide angle sonar,” in Proc. IEEE International Conference on Robotics and Automation, pp. 116-121, March 1985.
[5] K. Audenaert, H. Perremans, Y. Kawahara, and J. Campenhour, “Accurate ranging of multiple objects using ultrasonic sensors,” in Proc. IEEE International Conference on Robotics and Automation, Vol.2, pp. 1733-1738, 1992.
[6] K.-W. Jörg, and M. Berg, “First results in eliminating crosstalk & noise by applying pseudo-random sequences to mobile robot sonar sensing,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 292-297, 1996.
[7] T. Tanzawa, N. Kiyohiro, S. Kotani, and H. Mori, “The ultrasonic range finder for outdoor mobile robots,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.3, pp. 368-373, 1995.
[8] J. Borenstein, “The vector field histogram – fast obstacle avoidance for mobile robots,” IEEE Transactions on Robotics and Automation, Vol.7, No.3, pp. 278-288, 1991.
[9] T. Emaru, and T. Tsuchiya, “Research on estimating smoothed value and differential value by using sliding mode system,” IEEE Transactions on Robotics and Automation, Vol.19, No.3, pp. 391-402, June 2003.
[10] T. Emaru, and T. Tsuchiya, “System configuration of smoothed and differential values estimator by using linear and sliding mode system,” in Proc. IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 676-681, 2003.
[11] T. Emaru, and T. Tsuchiya, “Research on estimating the smoothed value and the differential value of the distance measured by an ultrasonic wave sensor,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1291-1297, 2000.
[12] V. I. Utkin, “Sliding Modes in Control Optimization,” New York: Springer-Verlag, 1992.
[13] I. Pitas, and A. Venetsanopoulos, “Nonlinear digital filters: principles and applications,” Boston, Massachusetts: Kluwer Academic Publishers, 1990.
[14] J. Borenstein, and Y. Koren, “Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidance,” IEEE Transactions on Robotics and Automation, Vol.11, No.1, pp. 132-138, 1995.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. J. Mataric, “Integration of representation into goal-driven behavior-based robots,” IEEE Transactions on Robotics and Automation, Vol.8, No.3, pp. 304-312, June 1992.

[2] [2] N. E. Pears, “An intelligent active range sensor for vehicle guidance: system overview,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 81-88, 1996.

[3] [3] H. Everett, “Sensors for Mobile Robots: Theory and Application,” Wellesley, Massachusetts: A. K. Peters, Ltd., 1995.

[4] [4] H. Moravec, and A. E. Elfes, “High resolution maps from wide angle sonar,” in Proc. IEEE International Conference on Robotics and Automation, pp. 116-121, March 1985.

[5] [5] K. Audenaert, H. Perremans, Y. Kawahara, and J. Campenhour, “Accurate ranging of multiple objects using ultrasonic sensors,” in Proc. IEEE International Conference on Robotics and Automation, Vol.2, pp. 1733-1738, 1992.

[6] [6] K.-W. Jörg, and M. Berg, “First results in eliminating crosstalk & noise by applying pseudo-random sequences to mobile robot sonar sensing,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 292-297, 1996.

[7] [7] T. Tanzawa, N. Kiyohiro, S. Kotani, and H. Mori, “The ultrasonic range finder for outdoor mobile robots,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.3, pp. 368-373, 1995.

[8] [8] J. Borenstein, “The vector field histogram – fast obstacle avoidance for mobile robots,” IEEE Transactions on Robotics and Automation, Vol.7, No.3, pp. 278-288, 1991.

[9] [9] T. Emaru, and T. Tsuchiya, “Research on estimating smoothed value and differential value by using sliding mode system,” IEEE Transactions on Robotics and Automation, Vol.19, No.3, pp. 391-402, June 2003.

[10] [10] T. Emaru, and T. Tsuchiya, “System configuration of smoothed and differential values estimator by using linear and sliding mode system,” in Proc. IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 676-681, 2003.

[11] [11] T. Emaru, and T. Tsuchiya, “Research on estimating the smoothed value and the differential value of the distance measured by an ultrasonic wave sensor,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1291-1297, 2000.

[12] [12] V. I. Utkin, “Sliding Modes in Control Optimization,” New York: Springer-Verlag, 1992.

[13] [13] I. Pitas, and A. Venetsanopoulos, “Nonlinear digital filters: principles and applications,” Boston, Massachusetts: Kluwer Academic Publishers, 1990.

[14] [14] J. Borenstein, and Y. Koren, “Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidance,” IEEE Transactions on Robotics and Automation, Vol.11, No.1, pp. 132-138, 1995.