Szczegóły

Tytuł artykułu

An embedded beamformer for a PID-based trajectory sensing for an autonomous vehicle

Tytuł czasopisma

Metrology and Measurement Systems

Wolumin

vol. 25

Numer

No 3

Autorzy publikacji

Słowa kluczowe

autonomous vehicle ; beamforming ; trajectory follower ; ultrasonic obstacle detector ; measurements ; sensors

Wydział PAN

Nauki Techniczne

Zakres

561–575

Abstrakt

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.

Wydawca

Polish Academy of Sciences Committee on Metrology and Scientific Instrumentation

Data

2018.10.01

Typ

Artykuły / Articles

Identyfikator

ISSN 0860-8229

DOI

10.24425/123891

×