Systematic optimal design of overlapped ultrasonic sensor ring for high performance obstacle detection

This paper presents the systematic optimal design of an overlapped ultrasonic sensor ring for high resolution in obstacle detection. It is assumed that a set of low directivity ultrasonic sensors of the same type are arranged a long a circle of non zero radius at regular spacings with their beams overlapped. First, taking into account the dead angle region, the entire range of obstacle detection of an overlapped ultrasonic sensor ring is defined. Second, the structural constraints imposed on an overlapped ultrasonic sensor ring are derived, which are required to guarantee non empty beam overlap and to avoid excess overlap. Third, using a design index defined in terms of positional uncertainty, the optimal design parameters of an overlapped ultrasonic sensor ring are determined.