Error-eliminating rapid ultrasonic firing

Patent · Tue Aug 24 00:00:00 EDT 1993

OSTI ID:868899

Borenstein, Johann ^[1]; Koren, Yoram ^[1]

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1. Ann Arbor, MI

A system for producing reliable navigation data for a mobile vehicle, such as a robot, combines multiple range samples to increase the "confidence" of the algorithm in the existence of an obstacle. At higher vehicle speed, it is crucial to sample each sensor quickly and repeatedly to gather multiple samples in time to avoid a collision. Erroneous data is rejected by delaying the issuance of an ultrasonic energy pulse by a predetermined wait-period, which may be different during alternate ultrasonic firing cycles. Consecutive readings are compared, and the corresponding data is rejected if the readings differ by more than a predetermined amount. The rejection rate for the data is monitored and the operating speed of the navigation system is reduced if the data rejection rate is increased. This is useful to distinguish and eliminate noise from the data which truly represents the existence of an article in the field of operation of the vehicle.

• Research Organization: Univ. of Michigan, Ann Arbor, MI (United States)
• Sponsoring Organization: USDOE
• DOE Contract Number: FG02-86NE37969
• Assignee: University of Michigan (Ann Arbor, MI)
• Patent Number(s): US 5239515
• OSTI ID: 868899
• Country of Publication: United States
• Language: English

Related Subjects

error-eliminating
rapid
ultrasonic
firing
producing
reliable
navigation
data
mobile
vehicle
robot
combines
multiple
range
samples
increase
confidence
algorithm
existence
obstacle
speed
crucial
sample
sensor
quickly
repeatedly
gather
time
avoid
collision
erroneous
rejected
delaying
issuance
energy
pulse
predetermined
wait-period
alternate
cycles
consecutive
readings
compared
corresponding
amount
rejection
rate
monitored
operating
reduced
increased
useful
distinguish
eliminate
noise
truly
represents
article
field
operation
ultrasonic energy
predetermined amount
operating speed
multiple samples
energy pulse
corresponding data
multiple sample
mobile vehicle
/367/901/