mobile robot sensing design

Aditya Kurniawan, S.ST

Mobile Robot Sensing Design

ULTRASONIC RANGEFINDER

RadiationCone : R

TX

RX

0 ms

200 ms

Sound speed : 344 m/s t(d) : 200msDistance : 34 meter

Radiation coneMeasur

erange

1 meter

Mobot diameter

The relation of distance read by ultrasonic to clearance

Clear path

Unclear path

Barrier detected

at 1 meter

1meter

Clear path

Unclear path

Barrier NOT detected

1meter

Unclear path

Provide collision

1meter

Radiation coneMeasur

erange

1 meter

For example : Radiation cone 45ºMeasure range 1 meterMobot diameter 0,2 meter

Mobot diameter

Radiation coneMeasur

erange For example :

Radiation cone degree 45º : ΘMeasure range 1 meter : mRMobot diameter 0,2 meter : mD

mR = R cos ½ Θ

RadiationCone : R R = ½

mD/sin½ Θ

For example : Radiation cone degree 45º : ΘMeasure range meter : mRMobot diameter 0,2 meter : mD

mR = R cos ½ Θ

RadiationCone : R R = ½

mD/sin½ Θ

( ½ mD ) x ( COS ½ Θ)

SIN ½ Θ mR =

For example : Radiation cone degree 45º : ΘMeasure range 1 meter : mRMobot diameter 0,2 meter : mD

mR = R cos ½ Θ

RadiationCone : R R = ½

mD/sin½ Θ

( ½ mD ) x COS ½ Θ)

SIN ½ Θ mR =

( ½ 0,2) x ( COS ½ 45º)

SIN ½ 45º mR =

mR = 0,24 meter