Ultrasonic obstacle location apparatus and method
作者： Akio Tsuji
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摘要: An obstacle sensing area ahead of a mobile robot is divided into plurality regions. A number ultrasonic transmitters and plural receivers on the cooperate to detect presence obstacles in Coordinates representing four corners each region, time data period from emission waves selected reception by receiver when are reflected an at corner point, prestored ROMs. The ROMs retrieved CPU response obtained data, precise position determined.
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