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The International Journal of Robotics Research
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Fast-Bearing Measurement with a Single Ultrasonic Transducer

Teruko Yata

Intelligent Robot Laboratory University of Tsukuba Tsukuba 305-8573, Japan

Lindsay Kleeman

Department of Electrical and Computer Systems Engineering Monash University Clayton 3168, Australia

Shin'ichi Yuta

Intelligent Robot Laboratory University of Tsukuba Tsukuba 305-8573, Japan

In conventional ultrasonic sensing, accurate ultrasonic target- bearing measurement is often regarded as difficult, due to the wide- beam angle of ultrasonic transducers. However, the accurate mea surement of distances and angles is usefulfor many robot tasks, such as obstacle avoidance and wall following. In this paper, we propose a method for extracting bearing information by using a single trans ducer in ultrasonic pulse-echo sensing, which basically exploits the dependency of the echo spectrum on bearing angle. The method em ploys a simple approach using a zero-crossing time interval of the reflected echo, and consequently is a fast measurement technique. This paper also presents experimental results on a real mobile robot and illustrates the usefulness of the ultrasonic bearing-measurement approach.

The International Journal of Robotics Research, Vol. 17, No. 11, 1202-1213 (1998)
DOI: 10.1177/027836499801701105
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G. Kao and P. Probert
Feature Extraction from a Broadband Sonar Sensor for Mapping Structured Environments Efficiently
The International Journal of Robotics Research, October 1, 2000; 19(10): 895 - 913.
[Abstract] [PDF]