Directional processing of ultrasonic arc maps and its comparison with existing techniques [Doǧrultulu maksimum yöntemiyle ultrasonik ark haritalarinin i̇şlenmesi ve varolan yöntemlerle karşilaştirmasi]
2007 IEEE 15th Signal Processing and Communications Applications, SIU
Please cite this item using this persistent URLhttp://hdl.handle.net/11693/26946
Directional maximum (DM) technique for processing ultrasonic arc maps (UAMs) is proposed and compared to existing techniques. It employs directional processing in extracting the map of the environment from UAMs. DM aims at overcoming the intrinsic angular uncertainty of ultrasonic sensors in map building, as well as eliminating noise and cross-talk related misreadings. The comparison is based on experiments with a mobile robot which ac-quired ultrasonic range measurements through wall following. Three complementary performance criteria are used. The DM technique offers a very good compromise between mean absolute error and correct detection rate, with a processing time less than one tenth of a second. It is also superior in range accuracy and in eliminating artifacts, resulting in the best overall performance. The results indicate several trade-offs in the choice of UAM processing techniques.
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