加速度の上限を考慮した超音波センサ移動ロボットの速度制御(機械力学,計測,自動制御)

抄録

For autonomous mobile robot, ultrasonic Time-of-flight (TOF) ranging systems are widely used to measure distance. However, ultrasonic TOF ranging systems tend to neglect minute reflected waves below the threshold level. Therefore, we have proposed the integration-type ultrasonic wave sensor which utilizes the integration value of sonar's reflected wave to recognize travelable area for autonomous mobile robot. The proposed method determines the pass and desired velocity simultaneously, but the calculated desired velocity changes significantly because of noise or error of the ultrasonic wave sensor. This paper presents the novel way to filter the velocity with considering the acceleration. By considering the acceleration, we can take the limitation of driving force of robot into consideration. The validity of the proposed method is investigated by applying the method to autonomous mobile robot in various environment.