The Arc-transversal median algorithm: A geometric approach to increasing ultrasonic sensor azimuth accuracy

Howie Choset, Keiji Nagatani, Nicole A. Lazar

研究成果: Article査読

88 被引用数 (Scopus)

抄録

This paper describes a new method for improving the azimuth accuracy of range information using conventional (Polaroid) low-resolution ultrasonic sensors mounted in a circular array on a mobile robot. Although ultrasonic sensors are fairly accurate in measuring distance in depth, they commonly have significant uncertainty in azimuth. We model this uncertainty with a uniform distribution along an arc. This means that the echo has an equal likelihood of originating from any point along the arc. We then Introduce a new method to fuse sonar data to better approximate the actual obstacle location. This new method is termed the arc transversal median method because the robot determines the location of an object 1) by intersecting one arc with other arcs, 2) then by considering only "transversal" intersections, those which exceed a threshold in angle, and 3) by taking the median of the intersections. The median is a robust estimator that is insensitive to noise; a few stray readings will not affect its value. We show, via some simple geometric relationships, that this method can improve the azimuth accuracy of the sonar sensor by a specified amount under well-defined conditions. Experimental results on an ultrasonic sensor array situated on a mobile robot verify this approach.

本文言語English
ページ(範囲)513-522
ページ数10
ジャーナルIEEE Transactions on Robotics and Automation
19
3
DOI
出版ステータスPublished - 2003 6月
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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