Research of estimating the differential value of the distance measured by a supersonic wave sensor to get the velocity of target object

摘要

To know an environment, the robot should have as many sensors as possible. When we use sensors, we must consider the characteristics of the sensors, such as range, processing time, error, and so on. If we can obtain important information about environment without increasing the number of sensors, the construction of the system becomes simpler. In this paper, we propose a new technique to estimate the differential value of the distance measured by a supersonic wave sensor. We can get new parameters without increasing sensors by using this method. But it is very difficult generally to find differential value, because the differential calculation puts emphasis on the noise which exists in signal. So, in this paper, we are coping with the noise by using the robustness that the sliding mode system has.