Differentiating a Set of Materials with Ultrasonic Sensors for Mobile Robot Applications

• 영문명: Differentiating a Set of Materials with Ultrasonic Sensors for Mobile Robot Applications
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Choon-Young Lee
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.6 No.3, 2~6쪽, 전체 5쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2005.10.01

영문 초록

  A method to differentiate a set of materials with ultrasonic sensor measurements is proposed for mobile robot navigation. Mobile robots often use a map of its environment to plan a safe path to the destination. Environmental map is essential in self-localization of mobile robots in that the landmarks of the map are used to estimate the position of the robot. Material type such as wood, concrete, and so on convey valuable information to the process of self-localization. This work has identified the material-dependent characteristic changes in the ultrasonic echo once the wave is reflected off an object whose surface is made of a certain material. The obtained echo signal models are used to recognize material type after processing the reflected echo. The experimental results show that the proposed method may build more informative map. The proposed method could also be applicable to search for a specific material in the environment.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. ULTRASONIC ECHO SIGNAL MODEL
Ⅲ. ALGORITHM
Ⅳ. EXPERIMENTAL RESULTS
Ⅴ. CONCLUSION
ACKNOWLEDGEMENTS
REFERENCE