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Smart ultrasonic sensors. The evolution from low-cost perception devices to sensor function modules providing autonomy to mobile robots

: Langen, A.; Dahlkemper, J.

International Federation of Robotics; Institution of Mechanical Engineers -IME-:
Robotics '94 - Flexible Produktion - Flexible Automation. Proceedings
Suffolk: Mechanical Engineering Publications, 1994
ISBN: 0-85298-939-3
International Symposium on Industrial Robots <25, 1994, Hannover>
Fraunhofer IPA ()
autonomer Roboter; autonomous robot; mobile robot; mobiler Roboter; Roboter; sensor; Ultraschallsensor

Autonomously guided or partly autonomously guided systems typically need to move in an unstructured environment without a-priori knowledge. The enabling technology for these products is the sensor based guidance. We describe an approach that is based upon the integration of application specific ultrasonic sensors with a reflex or behavior, the smart sensor. The approach is based on the idea to use animal behavior as a paradigm for the control of men made machines. Analysing the complex behavior of animals or humans, we can isolate releasing mechanisms that cause a specific response to specific situations. The design of these behaviors can be considered as a fast human copy of the evolution process resulting in reliable and efficient control systems. We have worked upon the appropriate sensor design, physical sensor configuration and sensor management to increase the robustness of control and to avoid computationally expensive algorithms.