Physically Based Simulation Model for Acoustic Sensor Robot Navigation

IEEE Transactions on Pattern Analysis and Machine Intelligence

Volumn PAMI-9, Issue 6, 1987, Pages 766-778

  Siegel, M W ^b  

^a YALE UNIVERSITY   (United States)

^b CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

Index Terms Acoustics; intelligent sensors; map building; navigation; robot; sensors; signal processing; sonar; time of flight ranging

Indexed keywords

ACOUSTICS - SENSORS; NAVIGATION; ROBOTS, INDUSTRIAL - MOBILE; SONAR - APPLICATIONS;

ACOUSTIC SENSOR ROBOT NAVIGATION; SONAR MAPS; TIME-OF-FLIGHT RANGING;

ROBOTICS;

EID: 0023450513     PISSN: 01628828     EISSN: None     Source Type: Journal    
DOI: 10.1109/TPAMI.1987.4767983     Document Type: Article

References (8)

1. H. P. Moravec and A. Elfes, “High resolution maps from wide angle sonar,” in Proc. IEEE Int. Conf. Robotics and Automation, 1985, pp. 116–121.
2. J. L. Crowley, “Dynamic world modeling for an intelligent mobile robot using a rotating ultra-sonic ranging device,” i n Proc. IEEE Int. Conf. Robotics and Automation, 1985, pp. 128–135.
3. R. Schwarz and B. Friedland, Linear System Theory. New York: McGraw-Hill. 1964.
4. P. M. Morse and K. U. Ingard, Theoretical Acoustics. New York: McGraw-Hill, 1968.
5. A. Oppenheim and R. Shafer, Digital Signal Processing. Englewood Cliffs, NJ: Prentice-Hall, 1975.
6. P. N. T. Wells, Biomedical Ultrasonics. New York: Academic, 1977.
7. I. S. Gradshteyn and I. M. Ryzhik, Table of Integrals, Series and Products. New York: Academic, 1980.
8. A. Elfes, private communication. Data taken i n a relatively uncluttered laboratory room, but previously defying interpretation, have successfully been interpreted using the approach we describe.