Publication
Title
Acoustic flow-based control of a mobile platform using a 3D sonar sensor
Author
Abstract
Moving a sensor through its environment creates signature time variations of the sensors readings often referred to as flow cues. We analyze the acoustic flow field generated by a sonar sensor, capable of imaging the full frontal hemisphere, mounted on a mobile platform. We show how the cues derived from this acoustic flow field can be used directly in a layered control strategy which supports a robotic platform to perform a set of motion primitives such as obstacle avoidance, corridor following and negotiating corners and T-junctions. The programmable nature of the spatial sampling pattern of the sonar allows efficient support of the varying information requirements of the different motion primitives. The proposed control strategy is first validated in a simulated environment and subsequently transferred to a real mobile robot. We present simulated and experimental results on the controllers performance while executing the different motion primitives. The results further show that the proposed control strategy can easily integrate minimal steering commands given by a user (electric wheelchair application) or by a high-level navigation module (autonomous SLAM applications).
Language
English
Source (journal)
IEEE sensors journal / Institute of Electrical and Electronics Engineers [New York, N.Y.] - New York, N.Y., 2001, currens
Publication
New York, N.Y. : IEEE Sensors Council , 2017
ISSN
1530-437X [print]
1558-1748 [online]
DOI
10.1109/JSEN.2017.2688476
Volume/pages
17 :10 (2017) , p. 3131-3141
ISI
000399936100020
Full text (Publisher's DOI)
Full text (open access)
UAntwerpen
Faculty/Department
Research group
Publication type
Subject
Affiliation
Publications with a UAntwerp address
External links
Web of Science
Record
Identifier
Creation 04.10.2017
Last edited 09.10.2023
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