Using Ultrasonic and Infrared Sensors for Distance Measurement
The amplitude response of infrared (IR) sensors
depends on the reflectance properties of the target. Therefore, in
order to use IR sensor for measuring distances accurately, prior
knowledge of the surface must be known. This paper describes the
Phong Illumination Model for determining the properties of a surface
and subsequently calculating the distance to the surface. The angular
position of the IR sensor is computed as normal to the surface for
simplifying the calculation. Ultrasonic (US) sensor can provide the
initial information on distance to obtain the parameters for this
method. In addition, the experimental results obtained by using
LabView are discussed. More care should be taken when placing the
objects from the sensors during acquiring data since the small change
in angle could show very different distance than the actual one.
Since stereo camera vision systems do not perform well under some
environmental conditions such as plain wall, glass surfaces, or poor
lighting conditions, the IR and US sensors can be used additionally to
improve the overall vision systems of mobile robots.
[1] P.M Novotny, N.J. Ferrier, "Using infrared sensor and the Phong
illumination model to measure distances," International Conference on
Robotics and Automation, Detroit, MI, vol. 2, April 1999, pp. 1644-
1649.
[2] G. Benet, F. Blanes, J.E. Simo, P. Perez, "Using infrared sensors for
distance measurement in mobile robots," Journal of Robotics and
Autonomous Systems, vol. 10, 2002, pp. 255-266.
[3] A. Sabatini, V. Genovose, E. Guglielmelli, A. Mantuano, G. Ratti, and
P. Dario, "A low-cost, composite sensor array combining ultrasonic and
infrared proximity sensors," International Conference on Intelligent
Robots and Systems, Pittsburgh, Pennsylvania, vol. 3, August 1995, pp.
120-126.
[4] V. Colla, A.M. Sabatini, "A composite proximity sensor for target
location and color estimation," IMEKO Sixth International Symposium
on Measurement and Control in Robotics, Brussels, 1996, pp. 134-139.
[5] L. Korba, S. Elgazzar, T. Welch, "Active infrared sensors for mobile
robots," IEEE Transactions on Instrumentation and Measuremen, vol.
2(43), 1994, pp. 283-287.
[6] A.M. Sabatini, V. Genovese, E. Guglielmelli, "A low-cost, composite
sensor array combining ultrasonic and infrared proximity sensors,
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Pittsburgh, PA, vol. 3, 1995, pp. 120-126.
[7] H.R. Everett, Sensors for Mobile Robots, AK Peters, Ltd., Wellesley,
MA, 1995.
[8] A.M. Flynn, "Combining sonar and infrared sensors for mobile robot
navigation," The International Journal of Robotics Research, vol. 7(6),
1988, pp. 5-14.
[9] G. Benet, J. Albaladejo, A. Rodas, P.J. Gil, "An intelligent ultrasonic
sensor for ranging in an industrial distributed control system," IFAC
Symposium on Intelligent Components and Instruments for Control
Applications, Malaga, Spain, May 1992, pp. 299-303.
[10] B. T. Phong., "Illumination for computer generated pictures,"
Communications of the ACM, vol. 18(6), June 1975, pp. 311-317.
[1] P.M Novotny, N.J. Ferrier, "Using infrared sensor and the Phong
illumination model to measure distances," International Conference on
Robotics and Automation, Detroit, MI, vol. 2, April 1999, pp. 1644-
1649.
[2] G. Benet, F. Blanes, J.E. Simo, P. Perez, "Using infrared sensors for
distance measurement in mobile robots," Journal of Robotics and
Autonomous Systems, vol. 10, 2002, pp. 255-266.
[3] A. Sabatini, V. Genovose, E. Guglielmelli, A. Mantuano, G. Ratti, and
P. Dario, "A low-cost, composite sensor array combining ultrasonic and
infrared proximity sensors," International Conference on Intelligent
Robots and Systems, Pittsburgh, Pennsylvania, vol. 3, August 1995, pp.
120-126.
[4] V. Colla, A.M. Sabatini, "A composite proximity sensor for target
location and color estimation," IMEKO Sixth International Symposium
on Measurement and Control in Robotics, Brussels, 1996, pp. 134-139.
[5] L. Korba, S. Elgazzar, T. Welch, "Active infrared sensors for mobile
robots," IEEE Transactions on Instrumentation and Measuremen, vol.
2(43), 1994, pp. 283-287.
[6] A.M. Sabatini, V. Genovese, E. Guglielmelli, "A low-cost, composite
sensor array combining ultrasonic and infrared proximity sensors,
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Pittsburgh, PA, vol. 3, 1995, pp. 120-126.
[7] H.R. Everett, Sensors for Mobile Robots, AK Peters, Ltd., Wellesley,
MA, 1995.
[8] A.M. Flynn, "Combining sonar and infrared sensors for mobile robot
navigation," The International Journal of Robotics Research, vol. 7(6),
1988, pp. 5-14.
[9] G. Benet, J. Albaladejo, A. Rodas, P.J. Gil, "An intelligent ultrasonic
sensor for ranging in an industrial distributed control system," IFAC
Symposium on Intelligent Components and Instruments for Control
Applications, Malaga, Spain, May 1992, pp. 299-303.
[10] B. T. Phong., "Illumination for computer generated pictures,"
Communications of the ACM, vol. 18(6), June 1975, pp. 311-317.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:55915", author = "Tarek Mohammad", title = "Using Ultrasonic and Infrared Sensors for Distance Measurement", abstract = "The amplitude response of infrared (IR) sensors
depends on the reflectance properties of the target. Therefore, in
order to use IR sensor for measuring distances accurately, prior
knowledge of the surface must be known. This paper describes the
Phong Illumination Model for determining the properties of a surface
and subsequently calculating the distance to the surface. The angular
position of the IR sensor is computed as normal to the surface for
simplifying the calculation. Ultrasonic (US) sensor can provide the
initial information on distance to obtain the parameters for this
method. In addition, the experimental results obtained by using
LabView are discussed. More care should be taken when placing the
objects from the sensors during acquiring data since the small change
in angle could show very different distance than the actual one.
Since stereo camera vision systems do not perform well under some
environmental conditions such as plain wall, glass surfaces, or poor
lighting conditions, the IR and US sensors can be used additionally to
improve the overall vision systems of mobile robots.", keywords = "Distance Measurement, Infrared sensor, Surface
properties, Ultrasonic sensor.", volume = "3", number = "3", pages = "289-6", }