Abstract
An ultrasonic range sensor has sophisticated characteristics whichw always depends on environmnt. So understanding of sensor characterristics is very important for programming behavior of an autonomous mobile robot.
A physically based simulation helps understand characteristics of sensors. In this paper, a simulation algorithm of ultrasonic range sensor is proposed, and its implementation is dicussed.
To realize fast, but accurate physical simulation, particle model of ultrasonic wave is introduced. This model includes not only specular reflection, but also diffuse reflection.
The result of simulation was very similar to the result of the experiment. The simulator is fast and accurate enough for an aid of programming behavior of the robot.
