Research on estimating the smoothed value and the differential value of the distance measured by an ultrasonic wave sensor
Research on estimating the smoothed value and the differential value of the distance measured by an ultrasonic wave sensor
复制标题
超声波传感器测量距离平滑值和微分值估计研究
DOI：
10.1109/iros.2000.893197
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
T. Tsuchiya
中科院分区：
文献类型：
--
作者：
T. Emaru;T. Tsuchiya
为了识别环境，机器人应该拥有尽可能多的传感器。当我们使用传感器时，我们必须考虑传感器的特性，例如范围、处理时间、误差等。我们使用超声波传感器，这是当今室内移动机器人系统中最常用的技术，并且我们提出了一种估计超声波传感器测量的距离的平滑值和微分值的技术。在提出该系统时，我们考虑了上述传感器的特性。尽管提出了很多方法，但要完美消除声纳噪声仍然非常困难。因此，我们通过假设声纳获得的信号的连续性来平滑距离值，并利用这种连续性，我们构建了一个鲁棒估计器。该估计器基于滑模系统。
To recognize an environment, the robot should have as many sensors as possible. When we use sensors, we must consider the characteristics of the sensors, such as range, processing time, error, and so on. We use an ultrasonic wave sensor that is today the most common technique employed on indoor mobile robotic systems, and we propose a technique to estimate the smoothed value and the differential value of the distance measured by the ultrasonic wave sensor. While proposing this system, we take the characteristics of the sensors mentioned above into consideration. In spite of the many methods proposed, it is still very difficult to eliminate the noise of sonar perfectly. So, we smooth the distance value by supposing the continuity of the signal that is obtained by the sonar, and taking advantage of this continuity, we compose a robust estimator. The estimator is based on a sliding mode system.