Browsing by Subject "Sonar sensors"

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    A comparative study of map building techniques by processing sonar arc-maps
    (2005) Kurt, Arda; Barshan, Billur
    In this study, four signal processing schemes regarding sonar sensor based map-building applications were compared. The newly proposed method, Directional Maximum is found to be successful in terms of reducing the innate angular ambiguity of the sonar sensors. With respect to several works presented earlier in the same field and specifically map-building related studies, the new method is successful both in terms of mean absolute error and computational cost.
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    A comparison of two methods for fusing information from a linear array of sonar sensors for obstacle localization
    (IEEE, 1995) Arıkan, Orhan; Barshan, Billur
    The performance of a commonly employed linear array of sonar sensors is assessed for point-obstacle localization intended for robotics applications. Two different methods of combining time-of-flight information from the sensors are described to estimate the range and azimuth of the obstacle: pairwise estimate method and the maximum likelihood estimator. The variances of the methods are compared to the Cramer-Rao Lower Bound, and their biases are investigated. Simulation studies indicate that in estimating range, both methods perform comparably; in estimating azimuth, maximum likelihood estimate is superior at a cost of extra computation. The results are useful for target localization in mobile robotics.