A new method to improve obstacle detection accuracy using simultaneous firing of sonar ring sensors

摘要

A new method to improve directionality of multiple ultrasonic-range-sensors mounted on a sonar ring is introduced. The method employs simultaneous firing of all on-board sensors with direct-path-crosstalk rejection developed for fast sonar ringscanning. Least-square fitting to the representative crosstalk data is used to determine the actual directions to obstacles The method was implemented with histogramic-in-motion-mapping and tested in office-like indoor environment. The maps of testingenvironment obtained by the method are closely approaching the real dimensions and positions of the physical objects inside the environment. This can lead to a more efficient and reliable local-path-planning of mobile robots.