Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2012.18.10.934

Obstacle Identification by Parabolic Curve Fitting using Ultrasonic Sensors Arranged on Ring Frame  

Jang, Jin-Su (R&D Department 1Gumi plant, Hanwha Corp.)
Park, Tai-Jin (JATCO Korea Engineering Corp.)
Lim, Zhong-Soo (Research Institute of Industrial Science and Technology)
Joo, Moon-G. (Dept. Information and Communications Engineering, Pukyong Nat. University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.10, 2012 , pp. 934-939 More about this Journal
Abstract
This paper proposes a new algorithm for ultrasonic sensors arranged on ring frame to identify obstacles surrounding itself by TOFs (time of flight). The ring frame has multiple channels consisting of a transmitter and a receiver. When the transmitter of a selected channel transmits ultrasonic signal, the TOFs of reflected signals from obstacles are acquired by the receiver of the channel. The process continues for all channels consecutively. Then, by using parabolic curve fitting of TOFs of all channel, the proposed algorithm not only calculates distances from multiple obstacles, but also identifies if the shape of obstacles are point or plane by the coefficients of the curve. By the experiment using 16 ultrasonic transceivers on the ring frame in the environment of two poles and two planes, we show the feasibility of the proposed scheme.
Keywords
ultrasonic sensor; curve fitting; identification of obstacle shape;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 H. Choset, K. Nagatani, and N.A. Lazar, "The arc-transversal median algorithm: a geometric approach to increasing ultrasonic sensor azimuth accuracy," IEEE Transactions on Robotics & Automation, vol. 19, no. 3, pp. 513-521, Jun. 2003.   DOI
2 I. Ulrich and J. Borenstein, "The GuideCane - applying mobile robot technologies to assist the visually impaired," IEEE Transactions on Systems, Man and Cybernetics, Part A, vol. 31, no. 2, pp. 131-136, Mar. 2001.   DOI
3 S. Shoval, J. Borenstein, and Y. Koren, "The NavBelt-a computerized travel aid for the blind based on mobile robotics technology," IEEE Transactions on Biomedical Engineering, vol. 45, no. 11, pp. 1376-1386, Nov. 1998.   DOI   ScienceOn
4 J. S. Jang, M. G. Joo, W. C. Lee, D. W. Jung, and Z. S. Lim, "Identification and distance detection for ultrasonic sensor by correlation method," IFAC WC2008, pp. 7534-7538, 2008.
5 A. M. Sabatini, "Correlation receivers using Laguerre filter banks for modeling narrowband ultrasonic echoes and estimating their time-of-flights," IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, vol. 44, no. 6, pp. 1253-1263, Nov. 1997.   DOI
6 H. Peremans, K. Audenaert, and J. M. V. Campenhour, "A highresolution sensor based on tri-aural perception," IEEE Transactions on Robotics & Automation, vol. 9, no. 1, pp. 36-48, Feb. 1993.   DOI   ScienceOn
7 L. Kleeman, "Fast and accurate sonar trackers using double pulse coding," IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1185-1190, Oct. 1999.
8 T. Yata, A. Ohya, and S. Yuta, "A fast and accurate sonar-ring sensor for a mobile robot," Proc. of the 1999 IEEE International Conference on Robotics & Automation, vol. 1, pp. 630-636, May 1999.
9 S. Kim and H. Kim, "Comparative analysis on performance indices of obstacle detection for an overlapped ultrasonic sensor ring," Journal of Institute of Control, Robotics and Systems, vol. 18, no. 4, pp. 321-327, 2012.   DOI
10 L. Kleeman, "Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead-rocking," Proc. of the 1992 IEEE International Conference on Robotics & Automation, vol. 3, pp. 2582-2587, May 1992.
11 Y. H. Kim, Y. K. Song, and B. K. Kim, "Development of precise localization system for autonomous mobile robots using multiple ultrasonic transmitters and receivers in indoor environments," Journal of Institute of Control, Robotics and Systems, vol. 17, no. 4, pp. 353-361, 2011.   DOI
12 G. Oriolo, G. Ulivi, and M. Vendittelli, "Real-time map building and navigation for autonomous robots in unknown environments," IEEE Transaction on Systems, Man, and Cybernetics, Part B, vol. 28, no. 3, pp. 316-333, Jun. 1998.   DOI