TABLE OF CONTENTS Autonomous robots often need a large number of sensors to span the space around them. A very common approach is the use of sonar sensors. However, complex algorithms are often required to handle sonar sensors in multipath fading and in a multi-user scenario. A bio-inspired approach to this problem is, on the other hand, appealing because of the fascinating examples (bats) present in nature. The solution proposed here exploits the principles underlying Chaotic Pulse Position Modulation (CPPM) in order to improve the efficiency of a sonar system in multipath fading situations and in a multi-user scenario.
Collision avoidance is one of the main issues involved when dealing with the design and construction of autonomous robots. Truly autonomous robot control often implies the ability of free-roaming platforms to travel in non-structured environments. The intelligent control of robots involves strategies to avoid obstacles and, if necessary, choose alternative routes to accomplish a task. This activity is performed on the basis of the information collected by several sensors. Among the most common sensors used for collision avoidance, those based on the measurement of the Time of Flight (TOF) are perhaps the most common. In particular, sonars, based on Ultrasonic TOF ranging allow reliability and precision of measurements to be conjugated with low costs and ease of interface, making these sensors widely used tools for autonomous robot navigation [Everett (1995)]. Autonomous robots are often equipped with a large number of ultrasound sensors to span the space around them...
