This paper presents a novel coding method for sonar systems, used by autonomous mobile vehicles. The coding method is developed to protect a proper and high accuracy work for the ultrasonic sensors and to allow them an operation without complications by the range measurement, if multiple vehicles with identical sonar systems move the same time. The specific of the known ultrasonic sensors in th...

In this paper we present a group of small autonomous mobile robots which are equipped with simple ultrasonic sonar for detecting obstacles and an active infrared communication and localisation system. The infrared system can be used for both transferring information between the robots and finding the relative positions of the other robots with respect to each other. By fusing the information fr...

The “Solar Ray” is an autonomous, bio-mimetic, submarine that uses flapping wings for propulsion and while avoiding obstacles with two sonar sensors provides long term observation of a shallow water marine environment at a low cost to the user.

One of the most important abilities for a mobile robot is detecting obstacles in order to avoid collisions. Building a map of these obstacles is the next logical step. Most robots to date have used sensors such as passive or active infrared, sonar or laser range finders to locate obstacles in their path. In contrast, this work uses a single colour camera as the only sensor, and consequently the...

This paper describes the approach of the team resko@UniKoblenz for the RoboCup Rescue competition 2010. Our mobile system Robbie is based on a MobileRobots Pioneer 3 AT. It is equipped with a four-wheel drive and sonar sensors in the front and in the back. On this platform, an aluminum rack is installed where additional sensors are attached: three color cameras (Philips SPC1300NC), an actively ...

This paper describes how fuzzy control can be applied to a sonar-based mobile robot. Behavior-based fuzzy control for HelpMate behaviors was designed using sonar sensors. The fuzzy controller provides a mechanism for combining sensor data from all sonar sensors which present di®erent information. The behavior-based approach is implemented as an individual high priority behavior. The highest lev...

A sonar system is presented that relies on scanning a single ultrasonic transducer and measuring echo amplitude and arrival times. Bearing angles to targets are estimated far more accurately than the transducer beamwidth as obtained with conventional sonar rings based on the Polaroid ranging module. A Gaussian beam characteristic is fitted using least squares to the amplitudes of corresponding ...

This work describes techniques using sonar sensors for environmental feature detection and identiication. By detecting common features in indoor environments and using them as landmarks , a robot can navigate reliably, recovering its pose when necessary. Results using a multiple hypothesis testing procedure for feature localization and identiication show that accurate feature information can be...

This paper describes an approach to combining range data from both a set of sonar sensors as well as from a directional laser range nder to eeciently take advantage of the characteristics of both types of devices when exploring and mapping unknown worlds. We call our approach \just in time sensing" because it uses the more accurate but constrained laser range sensor only as needed, based upon a...

This paper describes an approach to combining range data from both a set of sonar sensors as well as from a directional laser range finder to efficiently take advantage of the characteristics of both types of devices when exploring and mapping unknown worlds. We call our approach “just in time sensing” because it uses the more accurate but constrained laser range sensor only as needed, based up...