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Proceedings Paper

Ray-following model of sonar range sensing
Author(s): David R. Wilkes; Gregory Dudek; Michael R. M. Jenkin; Evangelos E. Milios
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Paper Abstract

We present a simulation-based model of sonar range sensing for robot navigation that accounts for multiple reflections of the sonar signal between transmission and reception. This gives more realistic results than previous models. The approach is to follow sample signal rays from the transmitter through reflections off walls and diffraction at corners to their possible return to the receiver. Parameters of the model are frequency minimum and maximum range and signal detection threshold (relative to emitted signal strength after linear gain compensation) . The results of Kuc and Siegel'' are employed to determine transducer impulse response and the strength of corner signals due to diffraction relative to reflected signals.

Paper Details

Date Published: 1 March 1991
PDF: 7 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25497
Show Author Affiliations
David R. Wilkes, Univ. of Toronto (Canada)
Gregory Dudek
Michael R. M. Jenkin, York Univ. (Canada)
Evangelos E. Milios, Univ. of Toronto (Canada)


Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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