TY - GEN
T1 - Wall following using angle information measured by a single ultrasonic transducer
AU - Yata, T.
AU - Kleeman, L.
AU - Yuta, S.
N1 - Funding Information:
We thank Prof.Jarvis and Mr.Curmi for their support and assistance. The exchange study between Tsukuba and Monash Universities has fostered this research which is partially supported by the scholarship from the Dept. of Japanese Studies, Faculty of Arts at Monash University and an Australian Research Council large grant.
Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - Conventional wall following with an ultrasonic sensor uses only range data to the nearest reflecting point. However, the bearing angle information to the wall is more useful for a wall following motion. In this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point. Also, in conventional ultrasonic pulse-echo sensing, an accurate target bearing measurement is often regarded as difficult due to the wide directivity of ultrasonic transducers. However, by assuming that the ultrasonic echo returns from a single direction, the bearing angle can be measured. A new sensing method is also proposed to determine accurately the bearing angle to the reflecting point by a single ultrasonic transducer. This paper also presents experimental results from mobile robot wall following experiments using only bearing information measured by a single ultrasonic transducer. These experiments illustrate the effectiveness of proposed method.
AB - Conventional wall following with an ultrasonic sensor uses only range data to the nearest reflecting point. However, the bearing angle information to the wall is more useful for a wall following motion. In this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point. Also, in conventional ultrasonic pulse-echo sensing, an accurate target bearing measurement is often regarded as difficult due to the wide directivity of ultrasonic transducers. However, by assuming that the ultrasonic echo returns from a single direction, the bearing angle can be measured. A new sensing method is also proposed to determine accurately the bearing angle to the reflecting point by a single ultrasonic transducer. This paper also presents experimental results from mobile robot wall following experiments using only bearing information measured by a single ultrasonic transducer. These experiments illustrate the effectiveness of proposed method.
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U2 - 10.1109/ROBOT.1998.677372
DO - 10.1109/ROBOT.1998.677372
M3 - Conference contribution
AN - SCOPUS:0031635455
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1590
EP - 1596
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -