For citations:

Andreev V.P., Tarasova V.E. Determination of the Form of Obstacles by a Mobile Robot Using Scanning Angular Movements of Ultrasonic Sensor. Mekhatronika, Avtomatizatsiya, Upravlenie. 2017;18(11):759-763. (In Russ.) https://doi.org/10.17587/mau.18.759-763