Measurement of reflecting direction from the center frequency of the echo in ultrasonic sensing

摘要

Ultrasonic sensors are widely used as external sensors for mobile robots, because they are simple to build and use, and are of low cost. Generally, in the pulse-echo method the distance to the target can be accurately measured, but accurate measurement of the reflecting target direction is difficult. To realize navigating of a mobile robot in a complicated environment like a doorway or surface tracking of The wall, the resolution of the lateral direction and surface angle of the reflecting target are very important.