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Avoiding Crosstalk of Sonar by Using Slinding Mode System
Takanori Emaru and Takeshi Tsuchiya
Transactions of the Japan Society of Mechanical Engineers, Series C, vol.68Cno.667Cpp.862-869 (2002).


  Abstract
For autonomous mobile robots, sensors are very important to recognize an environment. In this paper, we pick up ultrasonic wave sensor, which today is the most common technique employed on indoor mobile robotic systems, and we propose a new technique to avoid crosstalk of sonar sensors. Even though many methods have been proposed to avoid crosstalk, it is very difficult to eliminate the influence of crosstalk perfectly. In this paper, supposing the continuity of the distance signal given by the sonar, we smooth the distance value. The estimator is based on the sliding mode system.
 
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(c) Laboratory of Robotics and Dynamics, Hokkaido University