1A1-K15 積分型ソナーリングを用いたロバストな経路生成法の提案(動作計画と制御の新展開)

抄録

Pulse-echo method is widely used as a ranging method with ultrasonic wave sensor. But faint reflected wave tends not to be perceived in this method. Then, we have proposed integration-type ultrasonic wave sensor to use faint reflected wave effectively. This paper proposes a method of path generation by using the sonar ring which consists of some integration-type ultrasonic wave sensors. This sonar ring can shorten sensing time because it can obtain information from plural directions simultaneously. When the sensors transmit ultrasonic wave at the same time, interference between sensors may occur. However, experiments showed that sub-goal to avoid obstacles was generated by using integration value even if ultrasonic waves were transmitted at the same time.