Sungbok Kim and Hyunbin Kim
Ultrasonic sensor ring, overlapped beam pattern, positional uncertainty, detection range
This paper presents the optimal design of an overlapped ultrasonic sensor ring for minimal positional uncertainty in obstacle detection and maximal range of obstacle detection. It is assumed that a set of low directivity ultrasonic sensors of the same type are arranged in a circle of non-zero radius at regular spacings with their beams overlapped. First, taking into account the minimum and maximum sensing distances, as well as the dead angle region, the entire range of obstacle detection of an overlapped ultrasonic sensor ring is specified. And, for efficient beam overlap, the structural restrictions on an overlapped ultrasonic sensor ring are described. Second, the positional uncertainty in obstacle detection and the entire range of obstacle detection are chosen as two optimal design criteria of an overlapped ultrasonic sensor ring. Combining two design criteria, a new composite design index is proposed as the distance from the ideal state of beam overlap to the current state. Third, the changes of the design index according to the radius of an overlapped ultrasonic sensor ring are examined. Also, for varying numbers of ultrasonic sensors, the optimal radii of an overlapped ultrasonic sensor ring are determined.
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