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The performance characteristics of an ultrasonic sensor as part of a mobile wheel-track robot with a reconfigurable structure have been studied. The sensor allows obtaining information for the control system in order to autonomously overcome obstacles by the robot. The robot overcomes obstacles by lifting the wheels relative to the tracks at a certain angle, which is determined by the size of the obstacle exceeding the height of the tracked platform. A robot control algorithm has been developed to overcome obstacles. An experimental robot model that implements this algorithm was created and tested. The operating characteristics of the ultrasonic sensor were obtained and analyzed in various modes for determining the distance to obstacles and the height of the obstacles. Recommendations on optimal speed and distance measurement parameters were developed. The influence of the material, width and shape of obstacles on the measurement error was determined.
Rachkov et al. (Mon,) studied this question.
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