An innovative ultrasonic position and velocity sensor for mobile robots

The development of a novel ultrasonic sensor which provides low-cost and high-precision measurements of position and velocity presents the aim of this paper. The origin of the novel sensor and its operating principle are explained in a first section. The sensor process is, then, given by the calculus of a reduced mathematical model in order to analyze and to compare simulation results. The real time prototype is, afterwards, elaborated and experimented to validate theoretical methods. Finally, the paper is ended with a conclusion.