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Abstract
Strategy of Finding the Travelable Area for Autonomous Mobile Robot Using Distance and Integration Value Obtained By Ultrasonic Wave Sensor
Takanori Emaru, Kazuo Tanaka and Takeshi Tsuchiya
Transactions of the Japan Society of Mechanical
Engineers, Series C,
vol.74Cno.737 (2008).
Abstract
The ultrasonic TOF (Time-of-flight) ranging system is today the most
common sensing system employed in indoor mobile robotic systems,
primary due to the ready availability of low-cost systems,
their small size, simple circuits, and their ease of
interfacing with computers.
TOF ranging systems measure the round-trip time required for a pulse
of emitted energy to travel to a reflecting object, then echo back
to a receiver. However, ultrasonic TOF ranging systems tend to
neglect minute reflected waves below the threshold level.
In this
paper, we propose a novel approach to utilize the minute reflected
waves by integrating the reflected waves.
It is implemented using a transducer with scanning system, and
has a great ability of finding the travelable area for a robot
in environments in which the distance cannot be obtained precisely.
The proposed system is constructed by simple way
so as to improve the utility value of sonar.
The validity of the
proposed method is investigated by applying this method to
autonomous mobile robot in various environments such as
environment with multiple obstacles, in the end of the hall,
and so on.
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Takanori Emaru F
(c) Laboratory of Robotics and Dynamics, Hokkaido University