By Topic

Forward model for sonar maps produced with the Polaroid ranging module

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
R. Kuc ; Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA

Conventional Polaroid time-of-flight (TOF) sonars provide object range measurements, but their wide beam widths limit the object bearing accuracy. We describe a first-order model that predicts the TOF readings from an object at a given range, bearing, and reflecting strength produced by the Polaroid 6500 series sonar ranging module connected to a 600 series electrostatic transducer. The model provides a simple method for solving the inverse problem of estimating these object parameters from conventional TOF data. Experimental results are given to demonstrate the model performance. Our model provides a reasonable fit for main-lobe data observed for objects with reflecting strengths that vary by 25 dB. An example of an inverse problem solution demonstrates the model can improve object range and bearing measurements, and can also estimate the object reflecting strength, a landmark feature useful for robot navigation tasks.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:19 ,  Issue: 2 )