A study on the Measurement of the Angular Position for a Surface with Ultrasonic Sensors

초록

We study in this papaer a robot position control that quide the cleaning robot. The experimental system is consists of only two aligned ultrasonic transducers and a microprocessor. Its application is simpler and cheaper because of only two transducers and. While one transducer works as a receiver, the other transducer works both as a transmitter and as a receiver. We acquire the horizontal angle variance and distance between the robot and target surface from difference between the arrivals of the echo signals to the each receiver. The angle element maked the robot maintain the constant distance between the robot moving forward straight down without running onto the surface.