▽TOP▽活動実績▽２００２年▽

(68)　通路状環境における積分型超音波センサを利用した環境認識
　　　　　第20回日本ロボット学会学術講演会, CD-ROM (No.1A15), 4pages, 2002-9

　For autonomous mobile robot, ultrasonic TOF ranging systems are widely used in order 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. In this paper, we propose a new technique to utilize the minute reflected waves by integrating the reflected waves. The validity of the proposed method is investigated by applying this method to autonomous mobile robot in corridor environment.