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A multi-sonar-system for mobile robots under the influence of external disturbances is discussed. Many robots have on board more than ten sonars to detect obstacles on their surroundings. One of the most serious problem of such a multi-sonar-system is to prevent a crosstalk between sonars. Some papers reported a method that the transmitting signal of each sensor is modulated by unique binary pattern to identify individual sonar and to reduce the crosstalk. The authors have examined the probability of erroneous measurement of a multi-sonar-system whose transmitting signals are modulated by unique patterns, and proposed a method to synthesize a set of the pattern which gives the desired probability of erroneous measurement. In this paper, we extend the method to the multi-sonar-system under the influence of external disturbances. The effectiveness of a median filtering technique to reduce the probability of erroneous measurement is also discussed. Finally, some experimental results using a real robot are presented to verify the results.

Probability of Erroneous Measurement of a Multi-Sonar-System under the Influence of Disturbances.