Abstract

Research on estimating the differential value and the smoothed value of the distance measured by an ultrasonic wave sensor
Takanori Emaru and Takeshi Tsuchiya
in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1291-1298 (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. While 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 perfectly. So, we smooth the distance value by supposing the continuity of the signal that is obtained by the sonar, and taking advantage of this continuity, we compose an robust estimator.

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