Abstract
Abstract Low-cost autonomous mobility poses an important challenge on the way to new robot applications. Ultrasonic sensor systems are both robust and low-cost. We therefore have investigated the usefulness of several types of ultrasonic sensor principles for obstacle avoidance and localisation. Our experiments show that by tailoring the algorithms to the specific sensing task at hand, autonomous mobility can to a wide extent be achieved with a simple monaural system. However, some drawbacks like limited speed and resolution in map building remain. These drawbacks can be overcome by more advanced ultrasonic sensor systems, where two or three receivers instead of one are used in order to get more data from one single measurement.
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