Analysis and improvement of an ultrasonic sonar system on an autonomous mobile robot
By: Jane T. Lochner
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1994
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 107
Description: 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.
Notes: "December 1994."

Thesis advisor(s): Yutaka Kanayama,  Donald L. Waters.

Thesis (M.S. in Applied Physics and M.S. in Computer Science) Naval Postgraduate School, December 1994.

Includes bibliographic references (p. 105)

Approved for public release; distribution unlimited.

Also available online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat reader.

US Navy (USN) author.