Ultrasonic proximity system for outdoor robots

Auvo Penttinen, Jussi Graeffe

Research output: Book/ReportReport


Ultrasonic sensors are widely used for proximity sensing and environment modeling in mobile robots that are used indoors. The present work was conducted in the open air, and tests showed that in outdoor applications the performance of ultrasonic sensors is generally corrupted by the nonideal nature of the propagation medium, i.e., air. Even in good weather conditions variations in sound velocity occur in outdoor air, making echoes behave randomly and worsening range resolution. This may present a severe drawback for the outdoor use of advanced airborne imaging methods since compensation for this phenomenon is difficult. This work was done within the framework of the ESPRIT II Panorama-project.
Original languageEnglish
Place of PublicationEspoo
PublisherVTT Technical Research Centre of Finland
Number of pages28
ISBN (Print)951-38-4410-2
Publication statusPublished - 1994
MoE publication typeNot Eligible

Publication series

SeriesVTT Publications


  • sensors
  • ultrasonic waves
  • robots
  • distance measuring equipment
  • computers
  • software
  • control equipment
  • testing


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