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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 ：
(c) Laboratory of Robotics and Dynamics, Hokkaido University