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Proceedings Paper

Range detection for AGV using a rotating sonar sensor
Author(s): Wen-chuan Chiang; Dhyana Chandra Ramamurthy; Terrell Nathan Mundhenk; Ernest L. Hall
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Paper Abstract

A single rotating sonar element is used with a restricted angle of sweep to obtain readings to develop a range map for the unobstructed path of an autonomous guided vehicle (AGV). A Polaroid ultrasound transducer element is mounted on a micromotor with an encoder feedback. The motion of this motor is controlled using a Galil DMC 1000 motion control board. The encoder is interfaced with the DMC 1000 board using an intermediate IMC 1100 break-out board. By adjusting the parameters of the Polaroid element, it is possible to obtain range readings at known angles with respect to the center of the robot. The readings are mapped to obtain a range map of the unobstructed path in front of the robot. The idea can be extended to a 360 degree mapping by changing the assembly level programming on the Galil Motion control board. Such a system would be compact and reliable over a range of environments and AGV applications.

Paper Details

Date Published: 6 October 1998
PDF: 9 pages
Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); doi: 10.1117/12.325788
Show Author Affiliations
Wen-chuan Chiang, Univ. of Cincinnati (United States)
Dhyana Chandra Ramamurthy, Univ. of Cincinnati (United States)
Terrell Nathan Mundhenk, Univ. of Cincinnati (United States)
Ernest L. Hall, Univ. of Cincinnati (United States)


Published in SPIE Proceedings Vol. 3522:
Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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