Experimental modelling of time-of-flight sonar

Document Type

Article

Publication Date

1-1-1998

Abstract

This paper describes empirical models of sonar time-of-flight, derived from a large quantity of data collected with a single Polaroid ultrasonic rangefinder. We give a closed form model for the mean and standard deviation of range readings from a rough brick wall as a function of normal distance and beam incidence angle. For specular walls, we give the probability of direct (as opposed to multiple specular) return, and the mean and standard deviation of direct return range readings, as a function of incidence angle in tabular form. The models presented in this paper extend and correct those currently used in many robot sonar systems, particularly in the case of oblique incidence angles. © 1998 Elsevier Science B.V. All rights reserved.

Identifier

0032131048 (Scopus)

Publication Title

Robotics and Autonomous Systems

External Full Text Location

https://doi.org/10.1016/S0921-8890(98)00020-7

ISSN

09218890

First Page

33

Last Page

42

Issue

1-2

Volume

24

Fund Ref

National Science Foundation

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