Ultrasound Sensor Array for Robust Location

José N. Vieira, Sérgio I. Lopes, Carlos A. C. Bastos, Pedro N. Fonseca

Abstract

In this paper we present a system for localizing a team of soccer robots using ultrasound. The proposed system uses chirp signals to obtain a better signal to noise ratio with good time resolution and improved interference immunity. An array of four ultrasonic sensors is used to obtain spatial diversity and reduce the localization error. An efficient DSP algorithm for base-band conversion and decimation of the received pulses is also presented. The proposed system based on the TI DSP 2812 is very efficient and allows the localization of the robots up to 8 meters with an angular error with a maximum standard deviation of 2°.

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Paper Citation


in Harvard Style

N. Vieira J., I. Lopes S., A. C. Bastos C. and N. Fonseca P. (2007). Ultrasound Sensor Array for Robust Location . In Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007) ISBN 978-972-8865-86-6, pages 84-93. DOI: 10.5220/0001634200840093


in Bibtex Style

@conference{mars07,
author={José N. Vieira and Sérgio I. Lopes and Carlos A. C. Bastos and Pedro N. Fonseca},
title={Ultrasound Sensor Array for Robust Location},
booktitle={Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)},
year={2007},
pages={84-93},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001634200840093},
isbn={978-972-8865-86-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)
TI - Ultrasound Sensor Array for Robust Location
SN - 978-972-8865-86-6
AU - N. Vieira J.
AU - I. Lopes S.
AU - A. C. Bastos C.
AU - N. Fonseca P.
PY - 2007
SP - 84
EP - 93
DO - 10.5220/0001634200840093