Crosstalk is one of the most severe problems in conventional mobile robot sonar sensing. This paper addresses the crosstalk-problem and presents first and promising results of a new approach which enables a mobile robot to fire its sonar sensors simultaneously while totally eliminating misreadings caused by crosstalk or external ultrasound sources. This is achieved by carefully designing the em...

This paper presents a fast localisation algorithm for autonomous mobile agents in dynamic environments based on the definition of a new very small sized landmark type. These landmarks are calculated by obtaining the coordinates of the circular depth jimction obtained from a ring of equally spaced sonar sensors projected on a bidimensional base of a vectorial space. Finally, a pyramidal structur...

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding environment. Stereo vision,while still being a rapidly developing technique in the field of autonomous mobile robots, are currently less preferable due to it...

This paper presents a method for relocation of a mobile robot using sonar data. The process of determining the pose of a mobile robot with respect to a global reference frame in situations where no a priori estimate of the robot's location is available is cast as a problem of searching for correspondences between measurements and an a priori map of the environment. A physically-based sonar sens...

Localization addresses the problem of determining the position of a mobile robot from sensor data. This paper presents an algorithm, called BaLL, which enables a mobile robot to learn a set of landmarks used in localizationand to learn how to recognize them using artificial neural networks. BaLL is based on a statistical localization approach. It is applicable to a large variety of sensors and ...

Crosstalk is a common problem occurring with arrays of multiple ultrasonic sensors (sonars) in obstacle detection and avoidance systems. This paper presents a novel method that might allow the use of data generated by crosstalk to generate more reliable and accurate object detection. This is accomplished by assigning a unique code to the signals emitted by each sonar, so that the source sonar c...

This paper presents an obstacle avoidance module dedicated to non-holonomic wheeled mobile robots. Chained system theory and deformable virtual zone principle are coupled to design an original framework based on path following formalism. The proposed strategy allows to correct the control output provided by a navigation module to preserve the robot security while assuring the navigation task. F...

Many radar and sonar sensor systems generate several point measurements at every scan. Some measurements are due to targets and others are due to clutter, or scatterers, in the sensor field of view. The multitarget tracking problem is to estimate the number of targets and their states given the measurements. The multi-hypothesis tracking (MHT) method for solving this problem is based on two wid...

Obstacle detection is an important component for many autonomous vehicle navigation systems. Several methods for obstacle detection have been proposed using various active sensors such as radar, sonar and laser range finders. Vision based techniques have the advantage of low cost and provide a large amount of information about the environment around an intelligent vehicle. This paper deals with...

MIMO stands for Multiple Inputs Multiple Outputs. Such systems have received a lot of interests in the radar community during the last decade1 . One of the main reason behind this is the greater variety in terms of target view angles compared with traditional monostatic systems. With several independent views one can hope to reduce the speckle effect typical of coherent sensor systems such as R...