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[DPRG] Placement and interpretation of ultrasonic
Subject: [DPRG] Placement and interpretation of ultrasonic
From: Chris Jang
cjang at ix.netcom.com
Date: Fri Jun 1 09:25:44 CDT 2007
>I have two MaxBotics ultrasonic sensors, that I want to use to give the
>Hexbot some "eyesight". I need a good way to place these two sensors,
>and some information on how to crunch the incoming numbers, to give the
>processor a good picture of surrounding obstacles.
>
>I don't know if I should place both facing directly forward, at slight
>angles, one forward and another at an angle, or something else.
>
>Does anyone have some general advice on this topic?
If the robot addresses SLAM (Simultaneous Localization and Mapping),
then you may want the sensors at a definite angle to each other. That's
to provide more useful measurements to a stochastic filter. This probably
requires a more powerful computer than a microcontroller. And there's a
lot more theory to worry about.
If SLAM is not a consideration, then I suspect the sensors will be set
in the same direction or at a slight angle to provide a good wall of
coverage for detection and avoidance. David Anderson's SR04 has the
sensors parallel and separated by the width of a soda can (so it can
recognize the signature).
Note that I have no personal experience with SONAR so don't weight my
advice too heavily. There are others who have done a lot of practical
work with SONAR on robots.
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