An advanced sonar ring design with 48 channels of continuous echo processing using matched filters

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 4040-4046

  Browne, Damien ^a   Kleeman, Lindsay ^a  

^a MONASH UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

ARITHMETIC OPERATIONS; ARRIVAL TIME; CONVENTIONAL SYSTEMS; DATA PROCESSING ARCHITECTURE; DEDICATED HARDWARE; ECHO DATA; LIMITED DATA; LOCALISATION; MATCHED FILTERING; NOISE FLOOR; PROTOTYPE PROCESSING; REAL TIME; REAL TIME PERFORMANCE; ROBOTICS APPLICATIONS; SONAR RING; SONAR SYSTEM; ULTRASONIC PULSE;

BEARINGS (STRUCTURAL); DESIGN; INTELLIGENT ROBOTS; MATCHED FILTERS; SONAR; TRANSMITTERS; UNDERWATER ACOUSTICS;

DATA PROCESSING;

EID: 76249122503     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354228     Document Type: Conference Paper

References (13)

1. D. Bank and T. Kampke, High-resolution ultrasonic environment imaging, Robotics, IEEE Transactions on 23 (2007), no. 2, 370-381.
2. A. Diosi and L. Kleeman, Advanced sonar and laser range finder fusion for simultaneous localization and mapping, Proceedings 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS2004 (2004), 1854-1859.
3. S. Fazli and L. Kleeman, A low sample rate real time advanced sonar ring, Australasian Conference on Robotics and Automation 2004 (2004).
4. -, A real time advanced sonar ring with simultaneous firing, Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on 2 (2004), 1872-1877 vol.2.
5. Sewan Kim and Younggie Kim, Robot localization using ultrasonic sensors, Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on 4 (2004), 3762-3766 vol.4.
6. L. Kleeman and R. Kuc, Mobile robot sonar for target localization and classification, The International Journal of Robotics Research 14 (1995), 295-318.
7. -, Springer handbook of robotics, ch. Chapter 21: Sonar Sensing, pp. 491-519, Springer-Verlag Berlin Heidelberg, 2008.
8. L. Kleeman and A. Ohya, The design of a transmitter with a parabolic conical reflector for a sonar ring, Australasian Conference on Robotics and Automation 2006 (2006).
9. MURATA, Estd01 data sheet.
10. S. Shoval and J. Borenstein, Using coded signals to benefit from ultrasonic sensor crosstalk in mobile robot obstacle avoidance, Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on 3 (2001), 2879-2884 vol.3.
11. A.Ohya T.Yata and S.Yuta, A fast and accurate sonar-ring sensor for a mobile robot, Proceedings of the 1999 IEEE International Conference on Robotics and Automation (1999), 630-636.
12. S. Walter, The sonar ring: Obstacle detection for a mobile robot, Robotics and Automation. Proceedings. 1987 IEEE International Conference on 4 (1987), 1574-1579.
13. Xilinx, Inc., Fir compiler v4.0 product specification, 4.0 ed., June 2008.