A mobile robot sonar system
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Authors
Sherfey, Solomon Rand
Subjects
Robotics
sensors
sensors
Advisors
Kanayama, Yutaka
Date of Issue
1991-09
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
In order to function autonomously in the real world a mobile robot must first be able
to sense the boundaries of it's operating space. Once the enclosing features and/or obstacles
have been sensed they must be interpreted and represented in some way meaningful to the
robot's controlling algorithms. The objective of this work is the development of a system
of ultrasonic sensors, or sonars, for the mobile robot YAMABICO-11 at the Naval
Postgraduate School, and the implementation of a user friendly set of sonar language
functions for the robot's control language MML. The sonar hardware includes twelve
transducer pairs, their drivers and a bus mounted control card. The sonar control system
operates autonomously under direction of the robot's central processor.Extraction of linear
features is accomplished by the use of a least-square-fit algorithm of cartesian coordinate
pairs to a parametric representation of the including line segment.
Type
Thesis
Description
Series/Report No
Department
Computer Science
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
99 p.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.