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Open AccessArticle

A Compressed Sensing Approach for Multiple Obstacle Localisation Using Sonar Sensors in Air

Graduate Program in Electrical and Computer Engineering (CPGEI), Federal University of Technology-Paraná (UTFPR), Curitiba-PR 80230-901, Brazil
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Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2020, 20(19), 5511; https://doi.org/10.3390/s20195511
Received: 25 August 2020 / Revised: 22 September 2020 / Accepted: 24 September 2020 / Published: 26 September 2020
(This article belongs to the Special Issue Autonomous Mobile Robots: Real-Time Sensing, Navigation, and Control)
Methods for autonomous navigation systems using sonars in air traditionally use the time-of-flight technique for obstacle detection and environment mapping. However, this technique suffers from constructive and destructive interference of ultrasonic reflections from multiple obstacles in the environment, requiring several acquisitions for proper mapping. This paper presents a novel approach for obstacle detection and localisation using inverse problems and compressed sensing concepts. Experiments were conducted with multiple obstacles present in a controlled environment using a hardware platform with four transducers, which was specially designed for sending, receiving and acquiring raw ultrasonic signals. A comparison between the performance of compressed sensing using Orthogonal Matching Pursuit and two traditional image reconstruction methods was conducted. The reconstructed 2D images representing the cross-section of the sensed environment were quantitatively assessed, showing promising results for robotic mapping tasks using compressed sensing. View Full-Text
Keywords: compressed sensing; sonar imaging; environment mapping compressed sensing; sonar imaging; environment mapping
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MDPI and ACS Style

Tondin Ferreira Dias, E.; Vieira Neto, H.; Schneider, F.K. A Compressed Sensing Approach for Multiple Obstacle Localisation Using Sonar Sensors in Air. Sensors 2020, 20, 5511. https://doi.org/10.3390/s20195511

AMA Style

Tondin Ferreira Dias E, Vieira Neto H, Schneider FK. A Compressed Sensing Approach for Multiple Obstacle Localisation Using Sonar Sensors in Air. Sensors. 2020; 20(19):5511. https://doi.org/10.3390/s20195511

Chicago/Turabian Style

Tondin Ferreira Dias, Eduardo; Vieira Neto, Hugo; Schneider, Fábio K. 2020. "A Compressed Sensing Approach for Multiple Obstacle Localisation Using Sonar Sensors in Air" Sensors 20, no. 19: 5511. https://doi.org/10.3390/s20195511

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