@article{oai:kansai-u.repo.nii.ac.jp:00011802,
 author = {Masuda, Hiroshi and Mimura, Yoshio and Omura, Yasuhisa},
 journal = {Science and technology reports of Kansai University = 関西大学理工学研究報告},
 month = {Mar},
 note = {A simple method to detect step height, slope angle and trench width using four PSD range sensors (GP2D12) is proposed, and the reproducibility and accuracy of characteristic parameter detection are examined. The detection error of upward slope angle is within 2.5 degrees, while that of downward slope angle exceeded 20 degrees very large. In order to reduce such errors, a range sensor that has better range-voltage performance must be introduced, or we will have to increase trial frequency to prevent detection delay. Step height can be identified with an error off ± 1.5mm. Trench width cannot be reliably measured at this time. It is suggested that an additional method is needed if we are to advance the field of obstacle detection., ELECTRICAL AND ELECTRONIC ENGINEERING, 50th anniversary edition},
 pages = {1--15},
 title = {Experimental Investigation of Obstacle-Avoiding Mobile Robots without Image Processing},
 volume = {50},
 year = {2008}
}