Mobile Robots Introduction
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ERA-MOBI
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Sonar Sensors
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Sonar Sensors
Sonars are an optional component of the Erratic (ERA-MOBI) platform. Because of their wide admittance angle, sonars are good at detecting obstacles and their distance, but poor at determining their angular location.
The sonar ring fits on the front of Erratic, just under the top plate, and is split into two components of 4 sonars each. The beam pattern is optimized for obstacle detection, with a very dense pattern in front of the robot. The figures below show the beam pattern, using 30 degree cones, the approximate shape of the sonar beam.
The side-looking sonars are placed to facilitate wall-following, since they will reflect from a wall as the robot moves parallel to it.
The sonars are MaxSonar EZ1 devices from MaxBotics. Their maximum range is just over 6m, with reliable detection of smaller obstacles out to 3-4m. The controller fires the sonars in a fixed pattern at 20 Hz.
LV-MaxSonar-EZ1 data sheet© 2007-2008 Videre Design. All rights reserved. Unauthorized usage of this content prohibited.