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Introduction To Mobile Robotics: Proximity Sensors

This document discusses several types of proximity sensors used on mobile robots, including tactile, ultrasound, laser range finder, and infrared sensors. Ultrasound sensors emit a signal and measure the time of flight to calculate distance, while laser range finders precisely measure distance within a wide field of view. Parallel operation of ultrasound sensors allows for frequent scanning but increases risk of interference. Laser scanners provide high precision range data that must be processed to determine endpoint locations in both sensor and external coordinate systems.

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46 views17 pages

Introduction To Mobile Robotics: Proximity Sensors

This document discusses several types of proximity sensors used on mobile robots, including tactile, ultrasound, laser range finder, and infrared sensors. Ultrasound sensors emit a signal and measure the time of flight to calculate distance, while laser range finders precisely measure distance within a wide field of view. Parallel operation of ultrasound sensors allows for frequent scanning but increases risk of interference. Laser scanners provide high precision range data that must be processed to determine endpoint locations in both sensor and external coordinate systems.

Uploaded by

saesaria17
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Introduction to

Mobile Robotics

Proximity Sensors
Wolfram Burgard

1
Sensors of Wheeled Robots
Perception of the environment

Active: Time of flight


 Ultrasound
 Laser range finder
 Infrared Phase shift

Intensity-based
Passive:
 Cameras
 Tactiles

2
Tactile Sensors
Measure contact with objects

Touch sensor

Spring
Bumper sensor
Contact

3
Ultrasound Sensors
 Emit an ultrasound signal
 Wait until they receive
the echo
 Time of flight sensor

Polaroyd 6500
4
Time of Flight Sensors

emitter

object

d  vt /2

v: speed of the signal


t: time elapsed between broadcast of signal and
reception of the echo.

5
Properties of Ultrasounds
 Signal profile [Polaroid]

6
Sources of Error
 Opening angle
 Crosstalk
 Specular reflection

7
Typical Ultrasound Scan

8
Parallel Operation
 Given a 15 degrees opening angle, 24 sensors are
needed to cover the whole 360 degrees area
around the robot.
 Let the maximum range we are interested in be
10m.
 The time of flight then is 2*10m divided by the
speed of sound (330m/sec) which leads to 0.06sec
 A complete scan thus requires 24*0.06=1.45sec
 To allow frequent updates (necessary for high
speed) the sensors have to be fired in parallel.
 This increases the risk of crosstalk

9
Laser Range Scanner

10
Properties
 High precision
 Wide field of view
 Some laser scanners are security approved
for emergency stops (collision detection)

11
Computing the End Points
 Laser data comes as an array or range
readings, e.g. [1; 1.2; 1.5; 0.1; 81.9; …]
 Assume an field of view of 180 deg
 First beams starts at -½ of the fov
 Maximum range: ~80 m (SICK LMS)

12
Computing the End Points
 Laser data comes as an array or range
readings, e.g. [1; 1.2; 1.5; 0.1; 91.9; …]
 Assume an field of view of 180 deg
 First beams starts at -½ of the fov

Typical problems to be solved:


 Where are the end points relative to the
sensor location?
 Where are the end points in an external
coordinate system?

13
Robots Equipped with Laser
Scanners

14
Typical Scans

15
Another Range Sensor (Kinect)

16
Wolfram in 3D

17

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