J1102-4-5 積分型超音波センサを用いた自律移動ロボットにおける行動・センシング戦略の並列的制御(ライフサポート4:パワーアシスト・作業支援)

概要

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We have proposed a new approach to utilize the infinitesimal reflected waves of sonar sensor by integrating the reflected waves. This method is implemented using a transducer with a scanning system, and has a great ability of obtaining the traversable area for a robot in unknown environments in which the distance cannot be precisely measured. The proposed system, termed the integration-type ultrasonic wave sensor system, has following arbitrary parameters that the system designer can determine : sampling time of sonar, sampling time of scanning, range of scanning, speed of scanning, and so on. It is very difficult to determine them appropriately in response to changing environments or tasks. In this paper, we try to determine action and sensing strategy simultaneously. In preparation for this purpose, some experiments and discussion will be performed in this paper.
社団法人日本機械学会の論文
2009-09-12