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Theses/Dissertations

Artificial Intelligence and Robotics

William & Mary

Dissertations, Theses, and Masters Projects

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Sonar Sensor Interpretation For Ectogeneous Robots, Wen Gao Jan 2005

Sonar Sensor Interpretation For Ectogeneous Robots, Wen Gao

Dissertations, Theses, and Masters Projects

We have developed four generations of sonar scanning systems to automatically interpret surrounding environment. The first two are stationary 3D air-coupled ultrasound scanning systems and the last two are packaged as sensor heads for mobile robots. Template matching analysis is applied to distinguish simple indoor objects. It is conducted by comparing the tested echo with the reference echoes. Important features are then extracted and drawn in the phase plane. The computer then analyzes them and gives the best choices of the tested echoes automatically. For cylindrical objects outside, an algorithm has been presented to distinguish trees from smooth circular poles ...