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
초음파는 이동로봇의 실내외 항법에 필요한 지각정보 획득에 널리 사용되며, 음향항법 및 거리측정 시스템(소나)으로 구현된다. 여러 대의 초음파 소나를 장착한 로봇은 소나 간 혼선으로 인한 측정 오류로 인해 바람직하지 않은 작동을 보일 가능성이 높습니다. 각 소나는 범위를 측정하고 자체 신호를 식별하기 위해 펄스 변조 초음파를 전송 및 수신합니다. 동시에 작동되는 여러 개의 초음파 소나에 대한 펄스 패턴을 생성하는 기술을 제안합니다. 이 접근 방식은 펄스 패턴 생성을 유전자 알고리즘(GA)으로 해결할 수 있는 조합 최적화 문제로 간주합니다. 목표는 누화를 방지하거나 누화로 인한 잘못된 측정 확률을 낮게 유지하기 위해 특정 조건을 만족하는 펄스 패턴을 획득하는 것입니다. 펄스 패턴 생성을 위한 유전자형 코딩 방법을 제공합니다. 또한, 기존 기술을 사용할 때 발생하는 헛된 검색을 피하기 위해 기존 기술과 상당히 다른 결과를 얻을 수 있는 향상된 유전자형 코딩 기술을 제안합니다.
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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
부
@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},}
부
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 -