Identification Effectiveness of the Shape Recognition Method Based on Sonar

Abstract

Sonars are among the most popular navigation elements used in autonomous vehicles. Beside their well known properties, they have unexplored specifics offering interesting information. In this paper, we present the results of an experiment with the drawbacks of sonars. Our approach combined the regular information obtained from a sonar system with information deriving from measurement aberration. The experiments with an ultrasonic range measurement system of a mobile robot showed that the usually neglected sonar drawbacks could be unusually helpful. This paper emphasizes the effectiveness of identification, which was calculated based on the ratio of the quantities of parallelepipeds to cylinders. The experimental results are presented. Further work aims to implement this idea on a robot on an HCR base. Another possibility is also suitable implementation of map building with a relative degree of confidence.