Abstract

スライディングモードを利用したセンサ情報に対する平滑化および微分値推定法 (超音波センサへの適用)
江丸貴紀，土谷武士
日本機械学会論文集C編， vol.66, no.652, pp.3947-3954 (2000).

Abstract
To recognize an environment, the robot should have as many sensors as possible. When we use sensors, we must consider the characteristics of the sensors, such as range, processing time, error, and so on. In this paper, we pick up ultrasonic wave sensor that is today the most common technique employed on indoor mobile robotic systems, and we propose a new technique to estimate the smoothed value and the differential value of the distance measured by a ultrasonic wave sensor. When we propose this system, we take these restrictions above mentioned into consideration. In spite of many methods are proposed, it is very difficult to eliminate the noise of sonar perfectly. Therefore, we smooth the distance value by supposing the continuity of the signal which is obtained by the sonar, and take advantage of this continuity, we compose an estimator. The estimator is based on the sliding mode system, we can realize the robust estimator.

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