Accession Number : ADA300358

Title :   Analysis and Improvement of an Ultrasonic Sonar System on an Autonomous Mobile Robot.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Lochner, Jane T.

PDF Url : ADA300358

Report Date : DEC 1994

Pagination or Media Count : 120

Abstract : 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.

Descriptors :   *ROBOTS, *ULTRASONICS, *AUTONOMOUS NAVIGATION, *SONAR, SOURCES, ROBOTICS, DETECTORS, THEORY, LIMITATIONS, MOBILE, ERRORS, SELF OPERATION, ACOUSTICS, DIRECTIONAL, ACOUSTIC RANGES.

Subject Categories : Land and Riverine Navigation and Guidance
      Acoustics

Distribution Statement : APPROVED FOR PUBLIC RELEASE