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Implementation of a Sonar Array for Robot Navigation.
KTH, School of Computer Science and Communication (CSC).
2012 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis presents an implementation of a microprocessor based measurement system that controls an array of sonar sensors for robot navigation. The electronics between the Nomad robot platform and the sonar array was developed, as well as the communication interface. Programs were written for both microprocessor and PC to control and configure the sonar array. The implemented system makes it possible to coordinate multiple sonar sensors for simultaneous transmission. It also allows echo reception by multiple sensors simultaneously, rather than just the firing sensor. This provides the significant advantage of being able to compute accurate distance and bearing information with only one measurement session.

Abstract [sv]

I detta examensarbete presenteras en implementering av ett mikroprosessorbaserat mätsystem som styr en matris av sonarsensorer för robot navigering. Elektroniken mellan Nomad robot plattformen och sonarmatrisen utvecklades, liksom kommunikationsgränssnittet. Programkod som styr och konfigurerar sonarmatrisen skrevs för både mikroprocessor och PC. Det implementerade systemet gör det möjligt att koordinera multipla sensorer för simultan signaltransmission. Det möjliggör även ekoreception från multipla sensorer samtidigt, istället för bara av den sensor som sänder ut signalen. Detta ger den avgörande fördelen att korrekt avstånds- och riktningsinformation kan erhållas vid ett enda mättillfälle.

Place, publisher, year, edition, pages
2012.
Series
Trita-CSC-E, ISSN 1653-5715 ; 2012:090
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-130991OAI: oai:DiVA.org:kth-130991DiVA: diva2:654437
Educational program
Master of Science in Engineering - Electrical Engineering
Uppsok
Technology
Supervisors
Examiners
Available from: 2013-10-07 Created: 2013-10-07

Open Access in DiVA

No full text

Other links

http://www.nada.kth.se/utbildning/grukth/exjobb/rapportlistor/2012/rapporter12/tollet_alexander_12090.pdf
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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