| Physically based simulation model for acoustic sensor robot navigation. | |
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MedLine Citation:
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PMID: 21869438 Owner: NLM Status: In-Data-Review |
Abstract/OtherAbstract:
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A computer model is described that combines concepts from the fields of acoustics, linear system theory, and digital signal processing to simulate an acoustic sensor navigation system using time-of-flight ranging. By separating the transmitter/receiver into separate components and assuming mirror-like reflectors, closed-form solutions for the reflections from corners, edges, and walls are determined as a function of transducer size, location, and orientation. A floor plan consisting of corners, walls, and edges is efficiently encoded to indicate which of these elements contribute to a particular pulse-echo response. Sonar maps produced by transducers having different resonant frequencies and transmitted pulse waveforms can then be simulated efficiently. Examples of simulated sonar maps of two floor plans illustrate the performance of the model. Actual sonar maps are presented to verify the simulation results. |
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Authors:
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R Kuc; M W Siegel |
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Publication Detail:
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Type: Journal Article |
Journal Detail:
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Title: IEEE transactions on pattern analysis and machine intelligence Volume: 9 ISSN: 0162-8828 ISO Abbreviation: IEEE Trans Pattern Anal Mach Intell Publication Date: 1987 Jun |
Date Detail:
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Created Date: 2011-08-26 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 9885960 Medline TA: IEEE Trans Pattern Anal Mach Intell Country: United States |
Other Details:
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Languages: eng Pagination: 766-78 Citation Subset: - |
Affiliation:
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Department of Electrical Engineering, Yale University, New Haven, CT 06520. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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