Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot
Jane Thayer Lochner · Calhoun: The Naval Postgraduate School Institutional Archive (Naval Postgraduate School) · 1994
This research addresses the problems experienced by the autonomous mobile robot, Yamabico- 11, with its ultrasonic sonar system. It explains the basics of acoustic theory as related to Yamabico- 11 and explains the sources of limitations imposed on Yamabico- 11 by the physical nature of the problem. This paper documents the basic characteristics of the sonar hardware and examines causes of sonar range errors. Finally, this research leads to improvements of the current sonar system to provide better directional coverage through a new sonar configuration