@conference {98, title = {Characterisation of an ultrasonic sensor designed to identify reflectors in 3D environments}, booktitle = {11th International Conference on Advanced Robotics (ICAR{\textquoteright}03).}, volume = {1}, year = {2003}, month = {30/06/2003}, pages = {1271 - 1277}, publisher = {IEEE Robotics and Automation Society}, organization = {IEEE Robotics and Automation Society}, address = {Coimbra, Portugal}, abstract = {This paper presents an ultrasonic sensor made up of several transducers located on various different horizontal planes, designed for navigation and localisation applications in the mobile robot (MR) field. The sensor proposed is equipped with an emitter and nine receivers. The times-of-flight (TOF) provided by the transducers enable the two types of basic reflectors (planes and edges) to be classified. The system may be easily extended to include two emitters and fourteen receivers in order to identify corners. Optimal classification of the reflectors will facilitate both localisation of the mobile robot and the generation of environment maps that are useful for navigation tasks. The innovation with this sensor as regards prior papers in this field lies in the high degree of redundancy that it provides, which greatly facilitates the detection of erroneous measurements caused by false reflections, and in the simplicity of the classification algorithm used, which gives it a low computational load.}, keywords = {Ultrasonic Sensors, Ultrasounds}, isbn = {972-96889-8-2}, attachments = {https://geintra-uah.org/system/files/P273_0.pdf}, author = {Jose Antonio Jimenez and Ure{\~n}a, J. and Manuel Mazo and Enrique Santiso and {\'A}lvaro Hern{\'a}ndez and FJ. Meca} }