Generation and Optimization of Pulse Pattern for Multiple Concurrently Operated Sonars Using Genetic Algorithm

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概要

• 論文の詳細を見る

• The ultrasonic wave is widely used for acquiring perceptual information necessary for indoor/outdoor navigation of mobile robots, where the system is implemented as a sound navigation and ranging system(sonar). A robot equipped with multiple ultrasonic sonarsis likely to exhibit undesirable operation due to erroneous measurements resulting from cross-talk among the sonars. Each sonar transmits and receives a pulsemodulated ultrasonic wave for measuring the range and identifying its own signal. We propose a technique for generating pulse patterns for multiple concurrently operated ultrasonic sonars. The approach considers pulse-pattern generation as a combinatorial optimization problem which can be solved by a genetic algorithm(GA). The aim is to acquire a pulse pattern satisfying certain conditions in order to avoid cross-talk or keep the probability of erroneous measurement caused by cross-talk low. We provide a method of genotype coding for the generation of the pulse pattern. Furthermore, in order to avoid a futile search encountered when the conventional technique is used, we propose an improved genotype coding technique that yields considerably different results from those of the conventional technique.

• 社団法人電子情報通信学会の論文
• 2001-07-01

著者

• Ohkita Masaaki

  Department Of Electrical And Electronic Engineering Faculty Of Engineering Tottori University

• Ohki Makoto

  Department Of Electronics And Computer Science Faculty Of Engineering Yamanashi University

• Nyauma N

  鳥取大

• NYAUMA Nyakoe

  Department of Electrical and Electronic Engineering, Faculty of Engineering, Tottori University

• TABUCHI Suichiro

  Department of Electrical and Electronic Engineering, Faculty of Engineering, Tottori University

• Tabuchi Suichiro

  Department Of Electrical And Electronic Engineering Faculty Of Engineering Tottori University

• Ohki Makoto

  Department Of Electrical And Electronic Engineering Faculty Of Engineering Tottori University

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