複数の超音波センサの混信によって生じる誤動作の確率的考察 The Probability of Erroneous Measurement Caused by a Crosstalk in Multiple Sonars
The main purpose of this research is to study and develop a robust sonar system for mobile robots. In this way, some researchers have made sonar systems which calculate the cross-correlation between the transmitted signal and the received one. However, as the number of patterns of transmitted signals are practically limited, there would be possible erroneous measurements by sonar sensors, especially when the number of the sensors is increased.<BR>In this paper, we theoretically estimate the probability of erroneous measurement by the sonar sensors, which depends on the number of the sensors and the form of the transmitted signal. Then, we designed the shape of the emitted signals so that the probability of having an erroneous measurement is in a defined range.
日本ロボット学会誌 17(4), 526-533, 1999-05-15
The Robotics Society of Japan