Abstract

Speed Control of a Sonar-Based Mobile Robot By Using Integration-Type Ultrasonic Wave Sensor
Takanori Emaru, Kazuo Tanaka, and Takeshi Tsuchiya
in Proceedings of the 4th International Conference on Advanced Mechatronics, pp.7-12 (2004).

Abstract
For autonomous mobile robot, ultrasonic TOF ranging systems are widely used to measure distance. Time-of-flight (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. We have proposed a technique to utilize the minute reflected waves by integrating the reflected waves. We named it integration-type ultrasonic wave sensor. In this paper, we propose a speed control of a sonar-based mobile robot by using integration-type ultrasonic wave sensor. The validity of the proposed method is investigated by experiment with two-wheeled autonomous mobile robot.

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Takanori Emaru ：