mobile robot sensing design
TRANSCRIPT
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Aditya Kurniawan, S.ST
Mobile Robot Sensing Design
ULTRASONIC RANGEFINDER
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RadiationCone : R
TX
RX
0 ms
200 ms
Sound speed : 344 m/s t(d) : 200msDistance : 34 meter
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Radiation coneMeasur
erange
1 meter
Mobot diameter
The relation of distance read by ultrasonic to clearance
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Clear path
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Unclear path
Barrier detected
at 1 meter
1meter
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Clear path
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Unclear path
Barrier NOT detected
1meter
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Unclear path
Provide collision
1meter
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Radiation coneMeasur
erange
1 meter
For example : Radiation cone 45ºMeasure range 1 meterMobot diameter 0,2 meter
Mobot diameter
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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
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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 =
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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