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Abstract
Speed Control of a Sonar-Based Mobile Robot
Considering the Limitation of Acceleration
Takanori Emaru, Yohei Hoshino and Yukinori Kobayashi
Transactions of the Japan Society of Mechanical
Engineers, Series C,
vol.74Cno.737 (2009).
Abstract
For autonomous mobile robot, ultrasonic Time-of-flight (TOF)
ranging systems are widely used to measure distance.
However, ultrasonic TOF ranging systems tend to
neglect minute reflected waves below the threshold level.
Therefore, we have proposed the integration-type ultrasonic wave
sensor which utilizes the integration value of sonar's reflected
wave to recognize travelable area for autonomous mobile robot.
The proposed method determines the pass and desired velocity
simultaneously, but the calculated desired velocity changes
significantly because of noise or error of the ultrasonic wave
sensor. This paper presents the novel way to filter the velocity
with considering the acceleration.
By considering the acceleration, we can take the limitation of
driving force of robot into consideration. The validity of the
proposed method is investigated by applying the method to
autonomous mobile robot in various environment.
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Takanori Emaru F
(c) Laboratory of Robotics and Dynamics, Hokkaido University