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ABSTRACT
(b)
1. INTRODUCTION
Fig.2 (a) SRF05 sonar sensor, (b) Beam Pattern
In mobile robotic applications sonar sensors are widely used
in obstacle detection and map building. However without a Figure 2 shows SRF05 sonar sensor and its beam pattern.
proper knowledge of the sensor characteristics, and
limitations, it is difficult to achieve desired performance. We analyzed the behavior of the single sensor in a vacant
Here we present those limitations and techniques to room, where echo was only received from a specific object.
overcome them. We have used Devantech SRF05 sonar We used a 25 × 25 cm plastic plate as the standard object
sensor, which is widely used mainly due to range and low and gathered readings for different orientations. Figure 2
cost. The main problem of sonar sensors is the lack of shows the experimental arrangement in that the object was
knowledge of the 3D beam pattern of the sensor. The moved along horizontal and vertical straight lines in x-y
provided data by the manufacturer [2] is only very general. plane at several distances in z-axis.
The trigger frequency of the sensor is also critical. We also
found that surface texture, audibility angles of the surface, y
area of surface, and location of acoustic features on a
surface are also important facts for obstacle detection using
sonar sensors.
z
2. ANALYSIS OF THE BEAM PATTERN OF
DEVANTECH SRF05 Object
h
x
z
Fig.2 Experimental Arrangement
(a)
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2.1 Accurate Beam Pattern
LPAD HPADD
We approached in different ways to check the detectable
area of the sensor. First we measured the horizontal and
vertical width of the sensor beam at particular distances as
shown in Fig. 3
x
z
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Fig.2.6a. Object moving along the line- {z, y=0, x=-10}
Fig.2.9. Beam pattern along the yz plane at x=-20
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This is covered along the beam axis. The area where object
is placed and the probability of receiving echo is less than
0.7 is defined as the low probability area of detection
(LPAD). This also depends on the size of the object. We
defined these areas according to our standard size object.
When the size of the object is even larger the HPAD may
expand into the LPAD.
Test 1 Results
The SRF05 sensor only detects the first echo coming from
the object. We supply a short 10µs pulse to the trigger input
to start the ranging. The SRF05 will send out an 8 cycle
burst of ultrasound at 40 kHz and raise its echo line high. It
then listens for an echo, and as soon as it detects one it
lowers the echo line again. The echo line is therefore a pulse
whose width is proportional to the distance to the object. By
timing the pulse it is possible to calculate the distance. If
Fig.2.18. Beam pattern along the xz plane at y=20
nothing is detected then the SRF05 will lower its echo line
after about 30ms.
The area power density (W/m2) of the echo declines as it
As described previously the area where we keep an object
travels. We needed to set the triggering time of sensor such
and the probability of receiving echo is more than 0.7 is
defined as the high probability area of detection (HPAD).
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that the power of the previous burst has declined such that it 2.5 Generalized Filtering Algorithm
will not affect the next trigger.
After a thorough analysis of this sensor, we were able to
develop a general filtering algorithm to eliminate the
uncertainty of the sensor data. The functionality of the
False echoes filtering algorithm can be summarized as follows.
The minimum time the wave travels with echo power higher Ri (k) =( Fi (k-1) + ri (k) ) / 2
than the threshold value was found to be 35ms. When we b. Else
have set the triggering time as greater than this value, the
output was stable and is shown in Fig.2.22. Pi (k) = 0
I. If fi(k-1) = 1
fi(k) = 0
fi(k) = 1
Fi(k) = ri(k)
We have developed an algorithm in order to overcome the Same process is executed for the scans, k+1, k+2, …
problem of multiple echoes and false readings which is
described in section 2.5.
So the output of the algorithm is smoothened one set of data
which is reasonably able to represent all the n scans. Since it
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has correlated several set of data the filter has successfully Uncertain
tracked the object for a period of time. behavior
of the data
This filtering algorithm is shown in Fig. 2.23.
Smoothed
data
Fig.2.24. Graphs of the Raw Data and Filtered Data for one
sensor
3. CONCLUSION
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