A Study on the Expansion of the Following Area in Target Following Using Ultrasonic Sensors with Separated Transceivers
Seung-Ho Yum, Su-Hong Eom, Eung-Hyuk Lee · 2021 International Conference on Electronics, Information, and Communication (ICEIC) · 2021
This study proposes a method that considers the expansion of the following area in target following using ultrasonic sensors. The target following method using ultrasonic sensors calculates the distance between the target and the robot based on two distance data. However, the ultrasonic sensors are faced in a state of inability to follow when targets make rapid movements due to the limitations of the measurement range. To improve this problem, the existing research method rotates the ultrasonic sensors for researching the following target. However, since the existing method rotates two sensors with the same angle, the searching process is rather cumbersome because they search the target while increasing the rotation angle if there is no target within the range of rotation angles. In this paper, therefore, the rotation angle of the ultrasonic sensors located on the outside is set larger than that of the ultrasonic sensors located on the inside, centering on the rotation radius of the following robot for expanding the following area of the same rotation angle. In addition, the search for different angular ranges in distance detection sensors has been designed with a single link structure to miniaturize the search module.