Ultrasonic accurate sensor platform

Ultrasonic sensors are popular devices to use for wheeled mobile-robot sensing requirements, to provide distance-to-object information. However limited resolution due to sensor beamwidth, incorrect ranging due to multiple reflections, and loss of echo due to specular reflections make the use of alte...

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Main Authors: Ong, Clement, Amat, Anna Margarita S., Ling, Gerome Ivan C., Ng, Dennis Alberto M., Suatengco, Marco Niccolo G.
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Published: Animo Repository 2005
Online Access:https://animorepository.dlsu.edu.ph/faculty_research/779
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Institution: De La Salle University
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spelling oai:animorepository.dlsu.edu.ph:faculty_research-17782022-07-04T01:27:55Z Ultrasonic accurate sensor platform Ong, Clement Amat, Anna Margarita S. Ling, Gerome Ivan C. Ng, Dennis Alberto M. Suatengco, Marco Niccolo G. Ultrasonic sensors are popular devices to use for wheeled mobile-robot sensing requirements, to provide distance-to-object information. However limited resolution due to sensor beamwidth, incorrect ranging due to multiple reflections, and loss of echo due to specular reflections make the use of alternative sensor systems practically mandatory. This paper presents the implementation of a highperformance 2D sonar ranging system described by Heale and Kleeman in "Fast Target Classification Using Sonar". The system is implemented on PIC18F448 and PIC18F548 microcontrollers interfaced with a PC through the Extended Parallel Protocol (EPP). A DC motor is used to rotate a pair of Polaroid 7000 sensors 360 degrees around the vertical axis. Echoes received are digitized at a sampling rate in excess of 600KHz, are buffered then sent to the PC for processing. In this paper it is shown that despite uncontrolled chirp timing jitters in the transmitter circuitry of the transducer system, an alternative method of signal processing aside from that suggested by Kleeman is viable: tests show the ability of the system to range objects at distances from 0.30 meters up to 2.0 meters, with accuracy within three millimeters. The system is able to automatically identify planar as well as corner structures, with an allowable tilt and skew of 10 and 13 degrees respectively. 2005-12-01T08:00:00Z text https://animorepository.dlsu.edu.ph/faculty_research/779 Faculty Research Work Animo Repository
institution De La Salle University
building De La Salle University Library
continent Asia
country Philippines
Philippines
content_provider De La Salle University Library
collection DLSU Institutional Repository
description Ultrasonic sensors are popular devices to use for wheeled mobile-robot sensing requirements, to provide distance-to-object information. However limited resolution due to sensor beamwidth, incorrect ranging due to multiple reflections, and loss of echo due to specular reflections make the use of alternative sensor systems practically mandatory. This paper presents the implementation of a highperformance 2D sonar ranging system described by Heale and Kleeman in "Fast Target Classification Using Sonar". The system is implemented on PIC18F448 and PIC18F548 microcontrollers interfaced with a PC through the Extended Parallel Protocol (EPP). A DC motor is used to rotate a pair of Polaroid 7000 sensors 360 degrees around the vertical axis. Echoes received are digitized at a sampling rate in excess of 600KHz, are buffered then sent to the PC for processing. In this paper it is shown that despite uncontrolled chirp timing jitters in the transmitter circuitry of the transducer system, an alternative method of signal processing aside from that suggested by Kleeman is viable: tests show the ability of the system to range objects at distances from 0.30 meters up to 2.0 meters, with accuracy within three millimeters. The system is able to automatically identify planar as well as corner structures, with an allowable tilt and skew of 10 and 13 degrees respectively.
format text
author Ong, Clement
Amat, Anna Margarita S.
Ling, Gerome Ivan C.
Ng, Dennis Alberto M.
Suatengco, Marco Niccolo G.
spellingShingle Ong, Clement
Amat, Anna Margarita S.
Ling, Gerome Ivan C.
Ng, Dennis Alberto M.
Suatengco, Marco Niccolo G.
Ultrasonic accurate sensor platform
author_facet Ong, Clement
Amat, Anna Margarita S.
Ling, Gerome Ivan C.
Ng, Dennis Alberto M.
Suatengco, Marco Niccolo G.
author_sort Ong, Clement
title Ultrasonic accurate sensor platform
title_short Ultrasonic accurate sensor platform
title_full Ultrasonic accurate sensor platform
title_fullStr Ultrasonic accurate sensor platform
title_full_unstemmed Ultrasonic accurate sensor platform
title_sort ultrasonic accurate sensor platform
publisher Animo Repository
publishDate 2005
url https://animorepository.dlsu.edu.ph/faculty_research/779
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