A study on estimation wire obstacle using ultrasonic sensors and planning for avoidance

The authors studied the planning for wire obstacle avoidance by manipulators. It is difficult to know the location and direction of an obstacle with an ultrasonic sensor, since distance is the only information provided by the sensor. The authors propose here a method for estimating the location and direction of a wire obstacle by using multiple items of information on distance. The authors report the results of simulation of path modification by detecting wire obstacles based on the proposed method