Optimization of pulse pattern for a multi-robot sonar system using genetic algorithm

Abstract

Sonar sensors are widely used in mobile robotics research for local environment perception and mapping. Mobile robot platforms equipped with multiple sonars have been build and used by many researchers. A significant problem with the use of multiple sonars is that, when the sonars are operated concurrently, signal interference occurs, making it difficult to determine which received signal is an echo of the signal transmitted by a given sensor. In this paper, a technique for acquiring suitable modulation pulses for the signals emitted in a multi-sonar system is presented. We propose a technique to reduce the probability of erroneous operation due to interference by satisfying conditions for minimizing the signal length and the variation in the signal length of each sonar, using the Niched Pareto genetic algorithm (NPGA). The basic technique is illustrated for the case where two or more robots operate in the same environment. © Springer-Verlag Berlin Heidelberg 2002.