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(70)　積分型超音波センサを用いた自律移動ロボットの行動決定
　　　　第35回計測自動制御北海道支部学術講演会, pp.45-48, 2003-1

　For autonomous mobile robot, ultrasonic TOF (time-of-flight) ranging systems are widely used in order to measure distance. 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.