▽TOP▽活動実績▽2002年▽
(64) 解説:移動ロボット用超音波センサの混信回避
超音波テクノ, Vol.14, No.5, pp.73-76, 2003-9 - 2003-10
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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