Conference Paper

Implementation of unconsciousness movements for mobile robot by using sonar sensor

Hokkaido Univ., Sapporo
DOI: 10.1109/ICCAS.2007.4406887 Conference: Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Source: IEEE Xplore


Generally, animals have multiple sensoria, but they cannot process all environmental insults because their ability of processing the environmental information from sensoria is limited. However, all animals seem to be acting appropriately in complex environments. This is not because animals process all environmental information, but because they can decide flexibly the order of what to do first and can utilize efficiently a limited resource. In other words, animals can ignore efficiently extraneous matter. In this paper, we attempt to implement the schema of "IGNORE" in order to utilize a limited resource of autonomous mobile robot by using the concept of consciousness. Especially, we focus on the unconsciousness movements such as obstacle avoidance or speed control of autonomous mobile robot. If these functions were implemented without heavy load to the system, the whole performance of the robot system will be increase. In this paper, we implement the unconsciousness movements by using poor sensor and processor. Furthermore, we consider the possibility to construct a fruitful combination of conscious and unconscious movements.

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    ABSTRACT: In an autonomous mobile robot, ultrasonic time-of-flight (TOF) ranging systems are widely used for distance measurements. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below a threshold level. Therefore, we have proposed an integration-type ultrasonic wave sensor that utilizes the integration value of the sonar's reflected wave to recognize a traversable area for an autonomous mobile robot. The proposed method simultaneously determines the path and velocity; however, the calculated velocity varies significantly because of sensor noise or error. This paper presents a novel approach to filter the velocity by considering the accelerated velocity. This enables us to consider the limitation of the force exerted by the robot. The validity of the proposed method is investigated in various environments by applying this method to an autonomous mobile robot.
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