Bat-like sonar system strategies for mobile robots

Abstract

An investigation is made of the prey capture problem in an uncluttered environment for a mobile robot equipped with a wide-beam sonar system. An analytical lower bound for the mean capture time is derived by assuming complete information about the prey. Algorithms using qualitative vs. quantitative information are implemented for prey capture, and compared in terms of their mean capture time and capture probability. Although qualitative information is sufficient for prey capture, quantitative information assures more efficient prey capture to be achieved over a broader range of system parameters.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>