Second Euromicro Workshop on Advanced Mobile Robots (EUROBOT '97) The DSP multi-frequency sonar configuration of the RAM-2 mobile robot Brescia, ITALY October 22-October 24 ISBN: 0-8186-8174-8
This paper deals with the design and development of a system for controlling a ring of sixteen sonar transducers working at two different frequencies, generated by a DSP, for the mobile robot RAM-2. Data gathering speed is increased by the simultaneous firing of all sensors since the ultrasonic sensors that work at the same frequency are separated by 45/spl deg/. The software and hardware implementation of the proposed perception system are presented. The results from the calibration process and the integration in the mobile robot RAM-2 are also studied.
Index Terms:
mobile robots; multiple frequency sonar; RAM-2 mobile robot; sonar transducers; DSP; ultrasonic sensors; perception system; calibration; data acquisition; navigation; indoor environment
Citation:
M.A. Martinez, J.F. Gonzalez, J.L. Martinez, "The DSP multi-frequency sonar configuration of the RAM-2 mobile robot," eurobot, pp.113, Second Euromicro Workshop on Advanced Mobile Robots (EUROBOT '97), 1997 Usage of this product signifies your acceptance of the Terms of Use. | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb