Publication:
Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot

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Authors
Lochner, Jane Thayer
Subjects
Advisors
Kanayama, Yutaka
Walters, Donald
Date of Issue
1994-12
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This research addresses the problems experienced by the autonomous mobile robot, Yamabico- 11, with its ultrasonic sonar system. It explains the basics of acoustic theory as related to Yamabico- 11 and explains the sources of limitations imposed on Yamabico- 11 by the physical nature of the problem. This paper documents the basic characteristics of the sonar hardware and examines causes of sonar range errors. Finally, this research leads to improvements of the current sonar system to provide better directional coverage through a new sonar configuration
Type
Thesis
Description
Series/Report No
Department
Applied Physics
Computer Science
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
107 p.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
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