Abstract
Sonar or ultrasonic sensing uses the propagation of acoustic energy at higher frequencies than normal hearing to extract information from the environment. This chapter presents the fundamentals and physics of sonar sensing for object localization, landmark measurement and classification in robotics applications. The source of sonar artifacts is explained and how they can be dealt with. Different ultrasonic transducer technologies are outlined with their main characteristics highlighted.
Sonar systems are described that range in sophistication from low-cost threshold-based ranging modules to multitransducer multipulse configurations with associated signal processing requirements capable of accurate range and bearing measurement, interference rejection, motion compensation, and target classification. Continuous-transmission frequency-modulated (GlossaryTerm
CTFM
) systems are introduced and their ability to improve target sensitivity in the presence of noise is discussed. Various sonar ring designs that provide rapid surrounding environmental coverage are described in conjunction with mapping results. Finally the chapter ends with a discussion of biomimetic sonar, which draws inspiration from animals such as bats and dolphins.Access this chapter
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Abbreviations
- 2-D:
-
two-dimensional
- 3-D:
-
three-dimensional
- CMOS:
-
complementary metal-oxide-semiconductor
- CTFM:
-
continuous-transmission frequency modulation
- DFT:
-
discrete Fourier transform
- DSP:
-
digital signal processor
- FFT:
-
fast Fourier transform
- FPGA:
-
field-programmable gate array
- FR:
-
false range
- HMM:
-
hidden Markov model
- IAD:
-
interaural amplitude difference
- ITD:
-
interaural time difference
- MEMS:
-
microelectromechanical system
- MLE:
-
maximum likelihood estimate
- MR:
-
multiple reflection
- PAS:
-
pseudo-amplitude scan
- PVDF:
-
polyvinylidene fluoride
- SD:
-
standard deviation
- SLAM:
-
simultaneous localization and mapping
- TOF:
-
time-of-flight
- VO:
-
virtual object
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Sonar guided chair at Yale available from http://handbookofrobotics.org/view-chapter/30/videodetails/295
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Vergence sonar available from http://handbookofrobotics.org/view-chapter/30/videodetails/301
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Side-looking TOF sonar simulation available from http://handbookofrobotics.org/view-chapter/30/videodetails/302
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Side-looking multi-pulse sonar moving down cider-block hallway available from http://handbookofrobotics.org/view-chapter/30/videodetails/303
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Antwerp biomimetic sonar tracking complex object available from http://handbookofrobotics.org/view-chapter/30/videodetails/311
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Biological bat ear deformation in sonar detection available from http://handbookofrobotics.org/view-chapter/30/videodetails/312
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Monash DSP sonar tracking a moving plane available from http://handbookofrobotics.org/view-chapter/30/videodetails/313
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Side-looking sonar system traveling down hallway (camera view) available from http://handbookofrobotics.org/view-chapter/30/videodetails/314
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B-scan image of indoor potted tree using multi-pulse sonar available from http://handbookofrobotics.org/view-chapter/30/videodetails/315
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Antwerp biomimetic sonar tracking single ball available from http://handbookofrobotics.org/view-chapter/30/videodetails/316
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Antwerp biomimetic sonar system tracking two balls available from http://handbookofrobotics.org/view-chapter/30/videodetails/317
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Kleeman, L., Kuc, R. (2016). Sonar Sensing. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_30
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