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The dual-frequency sonar system of the mobile robot RAM-2

Published online by Cambridge University Press:  20 May 2004

M. A. Martinez  and
J. L. Martinez
M. A. Martinez
Affiliation:
Department of System Engineering and Automation, University of Málaga, E.T.S.I. Industriales, Plaza El Ejido s/n, 29013 Málaga (Spain)
J. L. Martinez
Affiliation:
Department of System Engineering and Automation, University of Málaga, E.T.S.I. Industriales, Plaza El Ejido s/n, 29013 Málaga (Spain)
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Abstract

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This paper deals with the design and development of a new perception system for controlling a set of ultrasonic transducers working at two different frequencies generated by a digital signal processor (DSP). Data gathering speed is increased by the simultaneous firing of sonars without crosstalk problems. The software and hardware implementation are presented as well as the results from the calibration process and the integration on board the mobile robot RAM-2. Finally, a demonstration of the use of the proposed equipment to wall-following via a fuzzy controller is described.

Keywords

Ultrasonic transducersMobile robotsSignal processingFuzzy control
Type
Research Article
Information
Robotica , Volume 22 , Issue 3 , June 2004 , pp. 263 - 270
Copyright
© 2004 Cambridge University Press