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Transactions of the Society of Instrument and Control Engineers
An ultrasonic range finger that an autonomous robot is equipped with is required to find landmarks at a long distance for navigation, and to detect objects at a short distance for obstacle avoidance. Especially, it is very important to detect an obstacle at a very short distance that has the high danger of a collision. But it is difficult to detect the obstacle at a very short distance using conventional long-range ultrasonic range finders. Because the conventional finders receive a directlydoi:10.9746/sicetr.49.505 fatcat:2wrtrjycajgc3eaw37xize26mu