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A tracking sonar sensor for vehicle guidance

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2 Author(s)
Manyika, J.M. ; Dept. of Eng. Sci., Oxford Univ., UK ; Durrant-Whyte, H.F.

A sonar sensor capable of focus of attention which tracks environment features moving with relative angular velocities up to 0.6 rad/s and linear speeds up to 2.4 m/s is described. The sonar uses a monopulse arrangement of a single transmitter and spaced receiver pair to provide both range and differential target bearing information. The monopulse arrangement is mounted on a high-speed servo which is used to null the monopulse signal and continuously aim the sonar at the center of a region of constant depth. It is shown that the sensor can provide accurate and reliable relative location information for a platform moving at speed through typical indoor environments. The implementation of a localization algorithm which uses this information to enable the device to act as a stand-alone guidance sensor for an associated mobile platform is described

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993