The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
L'onde ultrasonore est largement utilisée pour acquérir les informations perceptuelles nécessaires à la navigation intérieure/extérieure des robots mobiles, où le système est mis en œuvre sous la forme d'un système de navigation et de télémétrie sonore (sonar). Un robot équipé de plusieurs sonars à ultrasons est susceptible de présenter un fonctionnement indésirable en raison de mesures erronées résultant d'une diaphonie entre les sonars. Chaque sonar transmet et reçoit une onde ultrasonore modulée par impulsions pour mesurer la portée et identifier son propre signal. Nous proposons une technique permettant de générer des modèles d'impulsions pour plusieurs sonars à ultrasons fonctionnant simultanément. L'approche considère la génération de modèles d'impulsions comme un problème d'optimisation combinatoire qui peut être résolu par un algorithme génétique (GA). L'objectif est d'acquérir un modèle d'impulsion satisfaisant certaines conditions afin d'éviter la diaphonie ou de maintenir faible la probabilité de mesure erronée provoquée par la diaphonie. Nous proposons une méthode de codage du génotype pour la génération du modèle d'impulsion. De plus, afin d'éviter une recherche futile rencontrée lorsque la technique conventionnelle est utilisée, nous proposons une technique améliorée de codage du génotype qui donne des résultats considérablement différents de ceux de la technique conventionnelle.
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Copier
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
Copier
@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},}
Copier
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 -