Low-cost sonar based on the echolocation

In the world of mobile robot navigation, the ultrasonic sensors stand out for presenting attractive features at an affordable cost. The main problem in the use of these devices lies in the difficulty of correctly interpreting the obtained data, which means that their efficiency is limited. This paper focuses on the improvement and implementation of a low cost location system based on ultrasonic sensors. Through the combination of mathematical techniques and signal processing it is possible to make the system more accurate and reliable. The developed system includes the data acquisition, the signal filtering, and the trigonometric methods to estimate the coordinates of a target and can be assembled in a mobile robotThis work is financed by the ERDF — European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation — COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT — Fundac¸ao˜ para a Ciencia e a Tecnologia (Portuguese Founda- ˆ tion for Science and Technology) as part of project UID/EEA/50014/2013.info:eu-repo/semantics/publishedVersio