Multi-Object Identification for Mobile Robot using Ultrasonic Sensors

This paper proposes an algorithm for indoor mobile robot to retrieve information of multi-objects, where not only the range and the bearing angle but also the shape (edge or plane) of object is discriminated by a single measurement of robot having single transmitter and multi-receiver of ultrasonic sensors. The feasibility of the proposed algorithm is simulated for the 3 different objects in the case of using 1 transmitter and 5 receivers.