Newsgroups: comp.robotics
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From: michael@robots.oxford.ac.uk (Michael Stevens)
Subject: Re: Ultrasonic sensors (specular reflection problem)
Message-ID: <michael.18.000E9E05@robots.oxford.ac.uk>
Lines: 17
Organization: Robotics Research Group, Engineering Science, Oxford
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References: <ktso.751061968@mailbox.ee.cuhk.hk>
Date: Tue, 19 Oct 1993 14:37:01

In article <ktso.751061968@mailbox.ee.cuhk.hk> ktso@ee.cuhk.hk (So Kwok Tsun Alan) writes:

>I have a robotic project related to the use of ultrasonic sensors and
>also infra-red sensors. I want to know if there are books concerning the
>techniques of them. I also want to know how the specular reflection
>problem is solved by experts. Can anyone tell me where I can find those
>informations?

Depending on what you are trying to sense specular reflextion is NOT a 
problem. It can simplify matters somewhat. It just requires a different sensor 
model. If you are using both IR and sonar, as you describe, then you have the 
advantage of having on diffuse reflection sensor and one specular.

For a reference try the book.
"Directed Sonar Sensing for Mobile Robot Navigation"  JJ Leonard and HF 
Durrant-Whyte. Kluwer Academic Publishers 1992

