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Sonar Sensing

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Springer Handbook of Robotics

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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.

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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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Author information

Authors and Affiliations

  1. Department of Electrical and Computer Systems Engineering, Monash University, VIC 3800, Melbourne, Australia

    Lindsay Kleeman

  2. Department of Electrical Engineering, Yale University, 10 Hillhouse Avenue, CT 06520-8267, New Haven, USA

    Roman Kuc

Authors
  1. Lindsay Kleeman
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  2. Roman Kuc
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Corresponding author

Correspondence to Lindsay Kleeman .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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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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