IEICE TRANSACTIONS on Fundamentals
Generation and Optimization of Pulse Pattern for Multiple Concurrently Operated Sonars Using Genetic Algorithm
Summary :
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 sonars is likely to exhibit undesirable operation due to erroneous measurements resulting from cross-talk among the sonars. Each sonar transmits and receives a pulse-modulated 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.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E84-A No.7 pp.1732-1739
- Publication Date
- 2001/07/01
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- PAPER
- Category
- Ultrasonics
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Nyakoe George NYAUMA, Makoto OHKI, Suichiro TABUCHI, Masaaki OHKITA, "Generation and Optimization of Pulse Pattern for Multiple Concurrently Operated Sonars Using Genetic Algorithm" in IEICE TRANSACTIONS on Fundamentals,
vol. E84-A, no. 7, pp. 1732-1739, July 2001, doi: .
Abstract: 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 sonars is likely to exhibit undesirable operation due to erroneous measurements resulting from cross-talk among the sonars. Each sonar transmits and receives a pulse-modulated 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.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/e84-a_7_1732/_p
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@ARTICLE{e84-a_7_1732,
author={Nyakoe George NYAUMA, Makoto OHKI, Suichiro TABUCHI, Masaaki OHKITA, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Generation and Optimization of Pulse Pattern for Multiple Concurrently Operated Sonars Using Genetic Algorithm},
year={2001},
volume={E84-A},
number={7},
pages={1732-1739},
abstract={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 sonars is likely to exhibit undesirable operation due to erroneous measurements resulting from cross-talk among the sonars. Each sonar transmits and receives a pulse-modulated 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.},
keywords={},
doi={},
ISSN={},
month={July},}
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TY - JOUR
TI - Generation and Optimization of Pulse Pattern for Multiple Concurrently Operated Sonars Using Genetic Algorithm
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1732
EP - 1739
AU - Nyakoe George NYAUMA
AU - Makoto OHKI
AU - Suichiro TABUCHI
AU - Masaaki OHKITA
PY - 2001
DO -
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E84-A
IS - 7
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - July 2001
AB - 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 sonars is likely to exhibit undesirable operation due to erroneous measurements resulting from cross-talk among the sonars. Each sonar transmits and receives a pulse-modulated 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.
ER -
English
