Probability of Erroneous Measurement of a Multi-Sonar-System under the Influence of Disturbances.
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- Takahashi Takayuki
- Graduate School of Information Sciences, Tohoku University
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- Ishiyama Toshinori
- Graduate School of Information Sciences, Tohoku University
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- Nakano Eiji
- Graduate School of Information Sciences, Tohoku University
Bibliographic Information
- Other Title
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- 外乱が存在する環境下でのマルチ超音波センサシステムの誤動作確率
- ガイラン ガ ソンザイ スル カンキョウ カ デ ノ マルチ チョウオンパ センサ システム ノ ゴドウサ カクリツ
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Abstract
A multi-sonar-system for mobile robots under the influence of external disturbances is discussed. Many robots have on board more than ten sonars to detect obstacles on their surroundings. One of the most serious problem of such a multi-sonar-system is to prevent a crosstalk between sonars. Some papers reported a method that the transmitting signal of each sensor is modulated by unique binary pattern to identify individual sonar and to reduce the crosstalk. The authors have examined the probability of erroneous measurement of a multi-sonar-system whose transmitting signals are modulated by unique patterns, and proposed a method to synthesize a set of the pattern which gives the desired probability of erroneous measurement. In this paper, we extend the method to the multi-sonar-system under the influence of external disturbances. The effectiveness of a median filtering technique to reduce the probability of erroneous measurement is also discussed. Finally, some experimental results using a real robot are presented to verify the results.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 17 (8), 1183-1190, 1999
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679703887488
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- NII Article ID
- 10004734782
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4912408
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed