The use of Doppler in Sonar-based mobile robot navigation: Inspirations from biology

Information Sciences

Volumn 161, Issue 1-2, 2004, Pages 71-94

  Carmena, Jose M ^a   Hallam, John C T ^b  

^a DUKE UNIVERSITY MEDICAL CENTER   (United States)

^b UNIVERSITY OF SOUTHERN DENMARK   (Denmark)

Author keywords

Airborne sonar; Biomimetic; CF FM bats; Doppler; Mobile robots

Indexed keywords

CONTROL EQUIPMENT; MATHEMATICAL MODELS; MOBILE ROBOTS; NATURAL FREQUENCIES; NAVIGATION; SENSORS; SIGNAL PROCESSING; SONAR; ULTRASONIC DEVICES; VELOCITY;

AIRBORNE SONAR; ECHO LOCATION;

DOPPLER EFFECT;

EID: 1642314093     PISSN: 00200255     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.ins.2003.03.009     Document Type: Article

References (29)

1. Behrend O., Kössl M., Schuller G. Binaural influences on Doppler shift compensation of the horseshoe bat Rhinolophus rouxi. J. Comp. Physiol. A. 185:1999;529-538.
2. C. Biber, S. Ellin, E. Shenk, J. Stempeck, The polaroid ultrasonic ranging system, in: Proceedings of the 67th Convention of the Audio Engineering Society, New York, 1980.
3. Borenstein J., Everett B., Feng L. Navigating Mobile Robots: Systems and Techniques. 1996;A.K. Peters, Ltd, Wellesley, MA.
4. Carmena J.M., Hallam J.C.T. Estimating Doppler-shift using bat-inspired cochlear filterbank models: a comparison of methods for echoes from single and multiple reflectors. Adaptive Behav. 9(3-4):2002.
5. J.M. Carmena, J.C.T. Hallam, Narrowband 3D tracking using a biomimetic sonarhead, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Lausanne, Switzerland, 2002.
6. Carmena J.M., Kämpchen N., Kirn D., Hallam J.C.T. Artificial ears for a biomimetic sonarhead: from multiple reflectors to surfaces. Artif. Life. 7(2):2001;147-169.
7. Gaioni S.J., Riquimaroux H., Suga N. Biosonar behaviour of mustached bats swung on a pendulum prior to cortical ablation. J. Neurophysiol. 64:1990;1801-1817.
8. Han Y., Han M., Cha H., Hong M., Hahn H. Tracking of a moving object using ultrasonic sensors based on virtual ultrasonic image. Robot. Auton. Syst. 36:2001;11-19.
9. Keating A.W., Henson O.W., Henson M.M., Lancaster W.C., Xie D.H. Doppler-shift compensation by the mustached bat: quantitative data. J. Exp. Biol. 188:1994;115-129.
10. Kobler J.B., Wilson B.S., Henson O.W., Bishop A.L. Echo intensity compensation by echolocating bats. Hearing Res. 20:1985;99-108.
11. Kuc R. Three-dimensional tracking using qualitative bionic sonar. Robot. Auton. Syst. 11:1993;213-219.
12. Lee D. The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot. Distinguished Dissertations in Computer Science. 1996;Cambridge University Press.
13. Leonard J.J., Durrant-Whyte H.F. Directed Sonar Sensing for Mobile Robot Navigation. 1992;Kluwer Academic Publishers.
14. Melhuish C., Holland O., Hoddell S. Convoying: using chorusing to form travelling groups of minimal agents. Robot. Auton. Syst. 28:1999;207-216.
15. H.P. Moravec, A. Elfes, High resolution maps from wide angle sonar, in: Proceedings of the IEEE International Conference on Robotics and Automation, 1985, pp. 116-121.
16. Müller R., Schnitzler H.-U. Acoustic flow perception in cf-bats: properties of the available cues. J. Acoust. Soc. Am. 105(5):1999;2958-2966.
17. Müller R., Schnitzler H.-U. Acoustic flow perception in cf-bats: extraction of parameters. J. Acoust. Soc. Am. 108(3):2000;1298-1307.
18. Nachtigall P., Moore P. Animal SONAR Processes and Performance (NATO ASI Series). 1988;Plenum Press.
19. H. Peremans, Tri-aural perception for mobile robots, PhD thesis, University of Gent, 1994.
20. H. Peremans, Historic overview of ultrasonic sensing in mobile robotics, in: Proceedings of the Workshop on Biomimetic Ultrasound, Edinburgh, 2000, p. 6.
21. H. Peremans, R. Müller, J.M. Carmena, J.C.T. Hallam, A biomimetic platform to study perception in bats, in: G. McKee, P. Schenker (Eds.), Proceedings of SPIE: Sensor Fusion and Decentralized Control in Robotics Systems III, vol. 4196, 2000, pp. 168-179.
22. H. Peremans, A. Walker, J.C.T. Hallam, A biologically inspired sonarhead, Technical Report 44, Dep. of Artificial Intelligence, U. of Edinburgh, 1997.
23. H. Peremans, A. Walker, J.C.T. Hallam, 3D object localisation with a bionic sonarhead: inpirations from biology, in: Proceedings of the 1998 IEEE International Conference on Robotics and Automation, vol. 4, Leuven, Belgium, 1998, pp. 795-2800.
24. Pickles J.O. An Introduction to the Physiology of Hearing. 1982;Academic Press, London.
25. Popper A., Fay R. Hearing by Bats. 1995;Springer Verlag.
26. Roverud R.C., Grinnell A.D. Frequency tracking and Doppler shift compensation in response to an artificial CF-FM echolocation sound in the CF-FM bat, Noctilio albiventris. J. Comp. Physiol. A. 156:1985;471-475.
27. Schroeder M.R., Hall J.L. Model for mechanical to neural transduction in the auditory receptor. J. Acoust. Soc. Am. 55:1974;1055-1060.
28. M. Slaney, An efficient implementation of the Patterson-Holdsworth auditory filter bank, Technical Report 35, Apple Computer Inc, 1993.
29. Tian B., Schnitzler H.-U. Echolocation signals of the greater horseshoe bat (Rhinolophus ferrumequinum) in transfer flight and during landing. J. Acoust. Soc. Am. 101(4):1997;2347-2364.