Wilkes, D., Dudek, G., Jenkin, M. and Milios, E., A ray-following model of sonar range sensing, Proc. SPIE Vol. 1388 Mobile Robots V, 536-542, 1990.
We present a simulation-based model of sonar range sensing for robot navigation that accounts for multiple reflections of the sonar signal between transmission and reception. This gives more realistic results than previous models. THe approach is to follow sample signal rays from the transmitter through reflections off walls and diffraction at corners, to their possible return to the receiver. Parameters of the model are frequency, minimum and maximum range, and signal detection threshold (relative to emitted signal strength, after linear gain compensation). The results of Kuc and Siegel are employed to determine transducer impulse response and the strenth of corner signals due to diffraction relative to reflected signals.
