A Design of Onboard Multi-Channel Sonar Signal Processing System for Autonomous Mobile Robots
- Resource Type
- Conference
- Authors
- Hiroyuki Takai; Kiyoshi Okuda; Masamichi Miyake; Keihachiro Tachibana
- Source
- 제어로봇시스템학회 국제학술대회 논문집. 2009-08 2009(8):5740-5744
- Subject
- Ultrasonic sonar
Signal processing
Mobile robot
Obstacle detection
Map creation
- Language
- Korean
- ISSN
- 2005-4750
In the last several years, mobile robot systems that achieve complicated tasks have been developed. When a robot works in a cramped workspace, the robot has to detect arrangement of circumambient obstacles in order to avoid collisions. We considered a simple distance estimation algorithm for ultrasonic sonar. This algorithm was able to estimate distance with approximately 13mm of errors out of 1300mm using conventional 40kHz transducer in confirmation experiments. We also attempt stereo reception using two ultrasonic microphones. The stereo reception sonar was able to detect direction with approximately 4.2 degrees of error in preparatory experiments. In order to install small mobile robots and to detect circumambient obstacles, we designed a multi-channel sonar signal processing system using a high-performance embedded microcontroller. This paper describes our idea of the distance estimation algorithm of ultrasonic sonar and a design of signal processing system using a high-performance microcontroller.