This paper focuses on the use of magneto resistive and sonar sensors for imminent collision detection in cars. The magneto resistive sensors are used to measure the magnetic field from another vehicle in close proximity, to estimate relative position, velocity, and orientation of the vehicle from the measurements. Here the sonar sensor is mainly used to measure the distance only for medium inte...

EXTENDED ABSTRACT Data interpretation is one of the most relevant issues to support autonomy in robotic, mobile agents. The integration of data from diierent sensors and the study of their temporal evolution may increase the reliability of the models used to control the agent. In this paper, we present an approach to interpret in real time data sequences provided by diierent sensors. Our system...

In this paper, we describe the use of a broadband, frequencymodulated sonar sensor (a CTFM sonar) for generating maps of structured environments for robots and autonomous systems. The major advantage of using these sensors is that the information generated is reliable enough to extract the geometry and type of certain features with very few measurements; hence, maps can be generated rapidly. Al...

A critical problem in sensory interpretation is the derivation of the right mapping between sensor signals and properties of the world. In this regard, the method proposed here uses active sensing to acquire environmental features for reliable navigation in indoor environments. The features utilized are lines, corners, and edges extracted from common indoor room features such as walls, room cor...

Sonar range nders are commonly used in mobile robotics for map building, navigation, and localisation. All robot sonar systems must, implicitly or explicitly, use a model of the sonar sensor. However, no systematic attempt has been made to experimentally model the behaviour and reliability of sonar range returns. This paper describes an empirical model of sonar time-ofight, derived from a large...

This paper describes a mobile robot equipped with a sonar sensor array, Werrimbi, in a guided feature based map building task in an indoor environment. Common indoor landmarks such as planes, corners and edges are located and classified with a multiple transducer sensor array. Accurate odometry information is derived from a pair of narrow unloaded encoder wheels. Discrete sonar observations are...

Conventional sonar ring sensors, which can measure the distance to the nearest objects, are widely used in indoor mobile robots for obstacle avoidance purposes. Meanwhile, in advanced sonar sensing, accurate range and bearing measurement of multiple targets is performed using multiple receivers in each direction, but often regarded as slow due to the intensive computation process of all capture...

An advanced sonar sensor produces accurate range and bearing measurements, classifies targets and rejects interference with one sensing cycle. Two advanced sonar systems are used to simultaneously localise and map an indoor environment using a mobile robot. This paper presents the approach and results from on-the-fly map building using a Kalman filter and a new odometry error model that incorpo...

Building occupancy grid maps with sonar sensors is a challenging task due to angular uncertainty, specular reflections and crosstalk. This paper presents a quantitative comparison of two probabilistic and one heuristic approaches to the robotic mapping using real sonar data – inverse and forward sensor models and the CEMAL methods. Moreover, the two probabilistic methods are also tested pre-fil...

To accurately achieve side scan sonar (SSS) image target detection, a novel target detection algorithm based on a neutrosophic set (NS) and diffusion maps (DMs) is proposed in this paper. Firstly, the neutrosophic subset images were obtained by transforming the input SSS image into the NS domain. Secondly, the shadowed areas of the SSS image were detected using the single gray value threshold m...