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Abstract
Research on Estimating Smoothed Value and Differential Value
By Using Sliding Mode System
Takanori Emaru and Takeshi Tsuchiya
IEEE Transactions on Robotics and Automation,
vol.19, no.3, pp.391-402 (2003).
Abstract
To be able to recognize an environment, a 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 focus on the ultrasonic
wave sensor that is today the most common sensor employed on
indoor mobile robotic systems, and we propose a new technique
for estimating the smoothed value and the differential value
of the distances measured by the ultrasonic wave sensor.
In proposing this system, we take the characteristics of the
sensors mentioned above into consideration.
In spite of the many methods proposed, it is still very difficult
to eliminate the noise of sonar completely. Therefore, we smooth
the distance value by assuming the continuity of the signal
obtained by the sonar, and taking advantage of this continuity,
we compose a robust estimator.
The estimator is based on the sliding mode system.
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Takanori Emaru ：
(c) Laboratory of Robotics and Dynamics, Hokkaido University