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Closed-loop Neuro-robotic Experiments to Test Computational Properties of Neuronal Networks

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Physically based simulation model for acoustic sensor robot navigation.

R Kuc¹, M W Siegel

¹Department of Electrical Engineering, Yale University, New Haven, CT 06520.

IEEE Transactions on Pattern Analysis and Machine Intelligence

|August 27, 2011

Summary

This summary is machine-generated.

This study presents a computer model for simulating acoustic sensor navigation systems. The model efficiently generates sonar maps by analyzing reflections from environmental features, aiding in navigation system development.

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Area of Science:

Robotics
Acoustic Sensing
Computer Modeling

Background:

Acoustic sensor navigation systems are crucial for autonomous systems.
Accurate simulation of these systems is essential for design and testing.
Existing methods may lack efficiency or comprehensive modeling of acoustic reflections.

Purpose of the Study:

To develop an efficient computer model for simulating acoustic sensor navigation systems.
To provide closed-form solutions for acoustic reflections from environmental features.
To enable the simulation of sonar maps for various transducer configurations and environments.

Main Methods:

Combines acoustics, linear system theory, and digital signal processing.
Derives closed-form solutions for reflections from corners, edges, and walls.
Encodes floor plans to efficiently determine pulse-echo responses.
Simulates sonar maps based on transducer properties and environmental geometry.

Main Results:

The model efficiently simulates sonar maps by analyzing reflections.
Closed-form solutions accurately predict reflections based on geometric features and transducer parameters.
Simulated sonar maps closely match actual sonar maps, verifying the model's performance.

Conclusions:

The developed computer model provides an efficient and accurate method for simulating acoustic sensor navigation systems.
The model's ability to handle various environmental features and transducer properties enhances its utility in robotics and autonomous navigation research.
This simulation approach can accelerate the design and validation of acoustic navigation technologies.