Speed Control of Robot by Using Integration-Type Ultrasonic Wave Sensor

摘要

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