基于超声波双探头测距差值的目标方向估计
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- 英文论文题名：The direction estimated of target based on the difference of ultrasonic double probes
- 论文作者：彭星翔 ; 董尔谦 ; 童峰
- 英文论文作者：PENG Xing-xiang ; DONG Er-qian ; TONG Feng ; College Of Ocean & Earth Sciences ; Xiamen University ; Key Laboratory of Underwater Acoustic Communication and Marine Information Technology ; Xiamen University
- 年：2016
- 作者机构：厦门大学海洋与地球学院;厦门大学水声通信与海洋信息技术教育部重点实验室;
- 论文关键词：超声波测距 ; 定位 ; 实验验证
- 英文论文关键词：ultrasonic ranging ; position ; experimental verification
- 会议召开时间：2016-10-28
- 会议录名称：2016年全国声学学术会议论文集
- 语种：中文
- 分类号：TB559;TP212
- 学会代码：OGSM
- 会议名称：2016年全国声学学术会议
- 会议地点：中国湖北武汉
- 主办单位：中国声学学会
- 学会名称：中国声学学会
- 页数：4
- 文件大小：484k
- 原文格式：D
- 会议级别：全国
摘要
超声波在移动机器人导航、定位等方面已得到广泛应用,但由于常规超声波探头难以形成尖锐指向性因而无法直接获得目标方向信息,需要通过2个或多个相隔一定距离的超声波探头采用几何测向算法实现,这造成在小尺度移动机器人平台上应用的不方便。本文考虑到小尺度移动机器人的超声波测向需求,提出利用成一定夹角紧密相邻的两个超声波探头获得的测距差值进行目标方向估计,通过对超声波双探头发射、接收过程的理论建模与分析进行算法的理论推导,并利用实验数据验证了本文方法的有效性。
Ultrasound has been widely used in mobile robot navigation and positioning. But conventional ultrasonic sensor is difficult to form a sharp beam, and is difficult to obtain the directivity information of the target. Thus two or more ultrasonic sensors located separately are needs to obtain the direction of target by using the geometrical direction finding algorithm, thus it is inconvenient to apply in a small-size robot platform. In this paper, considering the need of direction finding in the small mobile robot, we proposed to use two closely located ultrasonic sensors with a fixed crossing angle to obtain the difference of their ranging values, then estimate the direction of target with the ranging difference. The theoretical derivation of the method is provided theoretically. Finally, experimental results are provided to verify that the method is effective.
Ultrasound has been widely used in mobile robot navigation and positioning. But conventional ultrasonic sensor is difficult to form a sharp beam, and is difficult to obtain the directivity information of the target. Thus two or more ultrasonic sensors located separately are needs to obtain the direction of target by using the geometrical direction finding algorithm, thus it is inconvenient to apply in a small-size robot platform. In this paper, considering the need of direction finding in the small mobile robot, we proposed to use two closely located ultrasonic sensors with a fixed crossing angle to obtain the difference of their ranging values, then estimate the direction of target with the ranging difference. The theoretical derivation of the method is provided theoretically. Finally, experimental results are provided to verify that the method is effective.
引文
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[2]潘元骁.基于Arduino的智能小车自动避障系统设计与研究[D].长安大学2015.
[3]杨春晖,王富东,马红卫,等.超声波目标定位与跟踪系统在机器人中的应用[J].工业控制计算机,2009,22(5):51-52.
[4]张剑,王维,何俊峰,等.基于双超声波模块的新型定位方法[J].传感器与微系统,2013,31(9):22-24.
[5]梁剑箫.多家厂商“掘宝”家用机器人市场[J].经济日报,2013,8:1-1.
[6]孙牵宇,童峰,许肖梅.一种大角度范围的高精度超声波测距处理方法[J].厦门大学学报(自然科学版),2006,04:513-517.
[7]Teruko Yata,Lindasy Kleeman,Shinichi Yuta.Fast-Bearing Measurement with a Single Ultrasonic Transducer[J].The International Journal of Robotics Research,1998,17(11):1202-1213.
[8]童峰.高精度超声测距系统研究:[D].厦门:厦门大学海洋学系,1997.
[9]童峰,许天增.基于换能器解卷积的高精度超声波测距系统.电子技术应用,2001:(10):51~53.