Planning for wire obstacle avoidance using ultrasonic sensors

We studied the planning for wire obstacle avoidance by manipulators. It is difficult to know the position and direction of an obstacle with an ultrasonic sensor, since distance is the only information provided by the sensor. We propose here a method for estimating the position and direction by using multiple items of information on distance. We also propose a method for retrieving the route with reduced manipulator freedom by using projection on a plane and restrictions that make use of the specific aspects of wire obstacles. We report the results of simulations using the two proposed methods