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Erschienen in:
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2008 | OriginalPaper | Buchkapitel

21. Sonar Sensing

verfasst von : Lindsay Kleeman, Prof, Roman Kuc, Dr.

Erschienen in: Springer Handbook of Robotics

Verlag: Springer Berlin Heidelberg

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Abstract

Sonar or ultrasonic sensing uses the propagation of acoustic energy at higher frequencies than normal hearing to extract information from the environment. This chapter presents the fundamentals and physics of sonar sensing for object localization, landmark measurement and classification in robotics applications. The source of sonar artifacts is explained and how they can be dealt with. Different ultrasonic transducer technologies are outlined with their main characteristics highlighted.
Sonar systems are described that range in sophistication from low-cost threshold-based ranging modules to multitransducer multipulse configurations with associated signal processing requirements capable of accurate range and bearing measurement, interference rejection, motion compensation, and target classification. Continuous-transmission frequency-modulated (CTFM) systems are introduced and their ability to improve target sensitivity in the presence of noise is discussed. Various sonar ring designs that provide rapid surrounding environmental coverage are described in conjunction with mapping results. Finally the chapter ends with a discussion of biomimetic sonar, which draws inspiration from animals such as bats and dolphins.

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Vorheriges Kapitel Inertial Sensors, GPS, and Odometry
Nächstes Kapitel Range Sensors
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Metadaten
Titel
Sonar Sensing
verfasst von
Lindsay Kleeman, Prof
Roman Kuc, Dr.
Copyright-Jahr
2008
Buch
Springer Handbook of Robotics

Print ISBN: 978-3-540-23957-4

Electronic ISBN: 978-3-540-30301-5

Copyright-Jahr: 2008

DOI
https://doi.org/10.1007/978-3-540-30301-5_22

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