Multi channel ultrasonic sensing system for wall features extraction

摘要

Ultrasonic sensor is one of the most cost-effective sensor used to obtain range information and obstacle avoidance. Due to its simplicity, this sensor is widely used in mobile robot applications to acquire environment features and mapping. Although the sensor can track a still or moving target, it does not provide information on the shape and pattern of the detected object. This paper proposes and highlights a low cost method using an array of ultrasonic sensors to be embedded on multiple robots for wall features extraction. Instead of using a single sensor, multiple sensors are used to increase the accuracy and improve coverage on the field of view of the sensor. More information can be extracted such as bearing angle of walls and possibly the shape of an object. A multiple pulse transmit and instantaneous multiple echo receive approach is implemented. The experimental results prove that this method is able to extract different type of wall features, accurately.