Generation and optimization of pulse pattern for multiple concurrently operated sonars using genetic algorithm

The ultrasonic wave is widely used for acquiring perceptual information nec essary for indoor/outdoor navigation of mobile robots, where the system is implemented as a sound navigation and ranging system (sonar). A robot equip ped with multiple ultrasonic sonars is likely to exhibit undesirable operat ion due to erroneous measurements resulting from cross-talk among the sonar s. Each sonar transmits and receives a pulse-modulated ultrasonic wave fur measuring the range and identifying its own signal. We propose a technique for generating pulse patterns for multiple concurrently operated ultrasonic sonars. The approach considers pulse-pattern generation as a combinatorial optimization problem which can be solved by a genetic algorithm (GA). The aim is to acquire a pulse pattern satisfying certain conditions in order to avoid cross-talk or keep the probability of erroneous measurement caused b y cross-talk low. We provide a method of genotype coding for the generation of the pulse pattern. Furthermore, in order to avoid a futile search encou ntered when the conventional technique is used, we propose an improved geno type coding technique that yields considerably different results from those of the conventional technique.