Abstract
This research aims to develop a novel method for recognizing the shape of an object located behind thin medium utilizing combination of ultrasonic sensor signal and edge detection technique. This system is extensively designed so that it can be easily mounted on a surveillance autonomous ground vehicle and is robust for operating in a hazardous environment. Once the autonomous ground vehicle reaches near the hidden objects, the proposed ultrasonic sensor system will identify shapes of the objects. Generally, the number of different sensors mounted on the robot and the number of tasks related to navigation, exploration and detection operation make the design of the autonomous ground vehicle control system very complex. The proposed ultrasonic sensing system for an autonomous ground vehicle provides two-dimensional shape information with low computational cost and will not add significant computational burden to the autonomous ground vehicle’s overall control system. At first, a mathematical model for the ultrasonic sensor is created to find the relationships between the attenuation coefficient, the transmission coefficient, the thickness of the medium and ultrasonic wavelength. The mathematical model is followed by numerical simulation to establish several design parameters. Finally, a prototype for the proposed shape detection system is developed using the kHz range off-the-shelf ultrasonic sensors and edge detection technique. Experimental results confirmed that the accuracy of the proposed mathematical model and shape of an object located behind a thin medium could be estimated successfully. It was concluded from the results that the developed novel method was useful for identifying objects located behind thin media and this will help in conducting the further development of research for surveillance and rescue operation using the autonomous ground vehicle.
Highlights
Introduction and literature reviewInterest in object location and shape detection has increased significantly over the last few years and several methods have been developed
We show the application of above-mentioned equations to model the transmission coefficients of ultrasonic signal aCL-TW through thin medium-like cloth and aCR-TW through medium
A detailed mathematical model for the ultrasonic sensor was developed in order to find the relationships between the attenuation coefficient, the transmission coefficient, thickness of the medium and ultrasonic wavelength
Summary
Interest in object location and shape detection has increased significantly over the last few years and several methods have been developed. Various models and systems have been reported for indoor and outdoor object detection.. Object location techniques have been implemented by using elliptical localization, based on ultra wideband systems and image-based systems.. Ultrasonic measurements range from displacement measurement, underwater detection, non-destructive measurement and medical-imaging used for clinical diagnosis.. Over the last few years, many different types of sensors have been developed for autonomous ground vehicle (AGV) path planning such as infrared sensors, ultrasonic sensors, LADAR, laser rangefinders and stereocameras with a projector. Range-finding sensors include ultrasonic sensors and laser range finders which are used for obstacle avoidance, scene interpretation and mapping
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