Accurate estimation of airborne ultrasonic time-of-flight for overlapping echoes.

In this work, an analysis of the transmission of ultrasonic signals generated by piezoelectric sensors for air applications is presented. Based on this analysis, an ultrasonic response model is obtained for its application to the recognition of objects and structured environments for navigation by autonomous mobile robots. This model enables the analysis of the ultrasonic response that is generated using a pair of sensors in transmitter-receiver configuration using the pulse-echo technique.