Multi-channel ultrasonic sensor system for obstacle detection of the mobile robot

Abstract

In the mobile robot navigation, the ultrasonic sensors has widely been used for the obstacle detection and map building because its cost and efficiency. Generally, multiple ultrasonic sensors are used to increase the accuracy of the obstacles position and decrease the scan time. But, to get the various obstacle information by processing data received from multiple sensors need expensive hardware system. This paper presents a new developed ultrasonic sensor system that is composed of the sensor driver/receiver signal processing hardware based on the DSP. And the developed APIs that can be used with this sensor system are also illustrated.