@ARTICLE{Mvemba_Patrick_Kapita_An_2018, author={Mvemba, Patrick Kapita and Lay-Ekuakille, Aimé and Kidiamboko, Simon and Rahman, Md Zia Uhr}, volume={vol. 25}, number={No 3}, journal={Metrology and Measurement Systems}, pages={561–575}, howpublished={online}, year={2018}, publisher={Polish Academy of Sciences Committee on Metrology and Scientific Instrumentation}, abstract={Beamforming is an advanced signal processing technique used in sensor arrays for directional signal transmission or reception. The paper deals with a system based on an ultrasound transmitter and an array of receivers, to determine the distance to an obstacle by measuring the time of flight and – using the phase beamforming technique to process the output signals of receivers for finding the direction from which the reflected signal is received – locates the obstacle. The embedded beam-former interacts with a PID-based line follower robot to improve performance of the line follower navigation algorithm by detecting and avoiding obstacles. The PID (proportional-integral-derivative) algorithm is also typically used to control industrial processes. It calculates the difference between a measured value and a desired set of points, then attempts to minimize the error by adjusting the output. The overall navigation system combines a PID-based trajectory follower with a spatial-temporal filter (beamformer) that uses the output of an array of sensors to extract signals received from an obstacle in a particular direction in order to guide an autonomous vehicle or a robot along a safe path.}, type={Artykuły / Articles}, title={An embedded beamformer for a PID-based trajectory sensing for an autonomous vehicle}, URL={http://journals.pan.pl/Content/108092/PDF/art11.pdf}, doi={10.24425/123891}, keywords={autonomous vehicle, beamforming, trajectory follower, ultrasonic obstacle detector, measurements, sensors}, }