The DSP multi-frequency sonar configuration of the RAM-2 mobile robot

This paper deals with the design and development of a system for controlling a ring of sixteen sonar transducers working at two different frequencies, generated by a DSP, for the mobile robot RAM-2. Data gathering speed is increased by the simultaneous firing of all sensors since the ultrasonic sensors that work at the same frequency are separated by 45/spl deg/. The software and hardware implementation of the proposed perception system are presented. The results from the calibration process and the integration in the mobile robot RAM-2 are also studied.