- Abstract:
-
This work shows some preliminary results in the use of Doppler-shifts for ultrasound-based navigation in mobile robots. Doppler-shifts are a rich source of information which is not exploited by commercial ultrasonic range sensors like the Polaroid. Bats, our source of inspiration, exploit the physics of echolocation and make very reliable use of Doppler-shifts for several tasks. RoBat, a 6 DOF biomimetic sonarhead mounted on a mobile robot, is the platform on which the experiments were performed. A cochlear model for extracting Doppler-shifts from the echoes is introduced, followed by two examples of Doppler-shift related tasks: a convoy controller and an obstacle avoidance task through acoustic flow. Preliminary results for both tasks are presented, showing better performance in the former one. The cosine dependence of Doppler-shifts results in a source of inaccuracies for reflector position estimation when the bearing angle is close to 0, suggesting a limited use of Doppler-shifts for tasks, such as obstacle avoidance, in which a crude estimation of the bearing angle suffices.
- Copyright:
- 2002 by The University of Edinburgh. All Rights Reserved
- Links To Paper
- No links available
- Bibtex format
- @InProceedings{EDI-INF-RR-0059,
- author = {
Jose Carmena
and John Hallam
},
- title = {Exploiting the physics: towards Doppler-based navigation with a bat-inspired mobile robot},
- book title = {Proceedings of the 9th Symposium on Intelligent Robotic Systems (SIRS)},
- year = 2001,
- month = {Jul},
- pages = {467-476},
- }
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