Navigation System for Mobile Robot Based on Simultaneous-Firing Sonar Ring

A navigation system for mobile robot based on simultaneous-firing sonar ring is developed. To eliminate error data due to crosstalk in the simultaneous firing, a filter method based on pattern matching using neural network is used in the system. To show the advantage of this method, a prototype of sonar ring with 24 sonar sensors is fabricated and installed to a mobile robot. As a result, a scanning rate up to 66 Hz of panoramic detection is achieved. The experimental results show that the navigation system is applicable to rapid navigation for mobile robot in unknown indoor environments.