In this paper, several ultrasonic sensor-based stair height and width detection techniques are proposed to generate the approach angle when the segmented caterpillar stair climbing robot enters the stairway. The location of the sensor to accurately an...
In this paper, several ultrasonic sensor-based stair height and width detection techniques are proposed to generate the approach angle when the segmented caterpillar stair climbing robot enters the stairway. The location of the sensor to accurately analyze the height and width of the stairs was selected. Based on the distance data acquired through the sensor, an equation for detecting the dimension of the stairs was proposed. The performance test of the step dimension detection technique proposed in this paper was conducted. As a result of the experiment, it was confirmed that the accuracy of the step height and width detection technique was about 95.96% and 94.18%, respectively, with high performance.