A Method of Extending the Transmission and Reception Range of Ultrasonic Sensors for Stable Following in a Narrow Indoor Space

This study proposes a following method based on ultrasonic sensors in consideration of the situation that requires collaboration while performing autonomous driving-based service robot tasks. Since it is impossible to follow the target when it is outside the transmission and reception range of ultrasonic sensors, this study proposes a method of extending the range by changing the angle of the ultrasonic sensor. It was confirmed that the proposed method can extend the transmission and reception range in comparing the transmission and reception range with the basic sensor installation method in which ultrasonic sensors are installed facing the front with each other.