ERA-SONAR

Sonar Sensors

Sonars are an optional accessory for the ERA-MOBI mobile robot platform. Because of their wide admittance angle, sonars are good at detecting obstacles and their distance, but poor at determining their angular location.

Eight MaxSonar EZ1 sonars from MaxBotics fit into a custom ring on the front of the ERA-MOBI, just under the top plate. The sonar shell is split into two components of four sonars each. The beam pattern is optimized for obstacle detection, with a very dense pattern in front of the robot.

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Features

Maximum range is just over 6 m
Reliable detection of smaller obstacles out to 3-4 m
Controller fires the sonars in a fixed pattern at 20 Hz

Data Sheet

LV-MaxSonar-EZ1 Data Sheet

Beam Pattern

The figures below show the beam pattern, using 30 degree cones, the approximate shape of the sonar beam.

Front Beam Pattern	Side Beam Pattern
With the front-looking sonars, the beam pattern is optimized for obstacle detection.	The side-looking sonars are placed to facilitate wall-following, since they will reflect from a wall as the robot moves parallel to it.