TY - JOUR T1 - Advanced adaptative sonar for mapping applications JF - Journal of Intelligent and Robotic Systems Y1 - 2008 A1 - Álvaro Hernández A1 - Ureña, J. A1 - Manuel Mazo A1 - J.J. Garcia A1 - Ana Jimenez A1 - Jose Antonio Jimenez A1 - M. Perez A1 - Fernando J. Álvarez A1 - Carlos De Marzziani A1 - Jean Pierre Derutin A1 - Jocelyn Sérot KW - Mapping applications KW - Real-time implementation KW - Ultrasonic sensory system AB -

An advanced adaptive sonar module is described, capable of being configured to different circumstances and distances according to reflectors found in the environment. Thanks to the sensory distribution, it is possible to identify three basic types of reflector (planes, edges and corners). Furthermore, a heuristic map of the environment is built. The proposed methods have been computationally optimized, and implemented in a real-time system based on a Field-Programmable Gate Array (FPGA) and a Digital Signal Processor (DSP). Results have been obtained in the detection, classification and mapping of obstacles; and finally testing has been carried out on a commercial vehicle.

PB - Springer Netherlands CY - Netherlands VL - 55 UR - http://www.springerlink.com IS - 5 ER -