高速・高精度に反射点群を計測可能なソナーリングシステム

• 矢田 晃子

  筑波大学知能ロボット研究室

• 大矢 晃久

  筑波大学知能ロボット研究室

• 油田 信一

  筑波大学知能ロボット研究室

書誌事項

タイトル別名

• A Fast and Accurate Reflecting Points Measurable Sonar-ring System.
• コウソク コウセイド ニ ハンシャテングン オ ケイソク カノウ ナ ソナーリング システム

抄録

A sonar-ring is one of the most popular sensor for indoor mobile robots, because it is simple and gives omnidirectional distance information directly. However, it is difficult to measure accurate bearing of reflecting points by a conventional sonar-ring sensor. And also, it is slow to get omni-directional information due to sequential driving of transducers for avoiding interference of ultrasound. In this paper, we propose a new sonar-ring sensor system for a mobile robot which can measure the accurate bearing angles of reflecting objects. The proposed system employs both simultaneous transmission/receive of all directions and accurate bearing angle measurement using differences of time-of-flight, and consequently archived fast and accurate measurement. We implemented a prototype of the proposed sonar-ring on a mobile robot, and experimental data show the effectiveness of the proposed method.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 17 (8), 1173-1182, 1999

  一般社団法人 日本ロボット学会

キーワード

• Sonar-Ring Sensor
• Reflecting Points
• Accurate Bearing Angle Measurement
• Fast Measurement

詳細情報

• CRID: 1390001204727175424
• NII論文ID: 10004734764
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.17.1173
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4912405
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4912405
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可