3D high-accuracy sonar system for multiple mobile vehicles

Wolfgang Stubenvoll; Teodora Dimitrova

doi:10.1117/12.335711

8 January 1999 3D high-accuracy sonar system for multiple mobile vehicles

Wolfgang Stubenvoll, Teodora Dimitrova

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335711
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper presents a new ultrasonic sensor, intended to be used by autonomous mobile vehicles for ranging, localization and mapping of indoor environments. A novel coding method guarantees proper work of the sensor even if multiple vehicles move in the same room or with disturbing ultrasonic noise sources. The sonar sensor system consists of one emitter and three receivers and can detect 3D targets in real-time. Compensating the effects of temperature and humidity, the system produces sub-millimeter range and sub- degree bearing accuracies up to a range of 3 meters. The coding method was developed to maximize the number of different coding signals as well as the noise suppression and to minimize the signal processing overhead. This coding method and the sensor configuration, hardware and signal- processing are described and the experimental results are presented.

Citation Download Citation

Wolfgang Stubenvoll and Teodora Dimitrova "3D high-accuracy sonar system for multiple mobile vehicles", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335711

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available