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".
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The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
A onda ultrassônica é amplamente utilizada para aquisição de informações perceptivas necessárias para navegação interna/externa de robôs móveis, onde o sistema é implementado como um sistema de navegação sonora e alcance (sonar). Um robô equipado com vários sonares ultrassônicos provavelmente apresentará operação indesejável devido a medições errôneas resultantes de interferência entre os sonares. Cada sonar transmite e recebe uma onda ultrassônica modulada por pulso para medir o alcance e identificar seu próprio sinal. Propomos uma técnica para gerar padrões de pulso para múltiplos sonares ultrassônicos operados simultaneamente. A abordagem considera a geração de padrões de pulso como um problema de otimização combinatória que pode ser resolvido por um algoritmo genético (AG). O objetivo é adquirir um padrão de pulso que satisfaça certas condições, a fim de evitar interferência ou manter baixa a probabilidade de medição errônea causada por interferência. Fornecemos um método de codificação genotípica para a geração do padrão de pulso. Além disso, a fim de evitar uma pesquisa fútil encontrada quando a técnica convencional é utilizada, propomos uma técnica melhorada de codificação de genótipos que produz resultados consideravelmente diferentes daqueles da técnica convencional.
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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
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@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},}
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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 -