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Mobile robot sensing design

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Mobile robot sensing design

  1. 1. Aditya Kurniawan, S.STMobile Robot Sensing DesignULTRASONIC RANGEFINDER
  2. 2. RadiationCone : RTXRX0 ms200 msSound speed : 344 m/st(d) : 200msDistance : 34 meter
  3. 3. Radiation coneMeasurerange1 meterMobot diameterThe relation of distance readby ultrasonic to clearance
  4. 4. Clear path
  5. 5. Unclear pathBarrier detectedat 1 meter1meter
  6. 6. Clear path
  7. 7. Unclear pathBarrier NOTdetected1meter
  8. 8. Unclear pathProvide collision1meter
  9. 9. Radiation coneMeasurerange1 meterFor example :Radiation cone 45ºMeasure range 1 meterMobot diameter 0,2 meterMobot diameter
  10. 10. Radiation coneMeasurerangeFor example :Radiation cone degree 45º : ΘMeasure range 1 meter : mRMobot diameter 0,2 meter : mDmR = R cos ½ ΘRadiationCone : RR = ½ mD/sin½ Θ
  11. 11. For example :Radiation cone degree 45º : ΘMeasure range meter : mRMobot diameter 0,2 meter : mDmR = R cos ½ ΘRadiationCone : RR = ½ mD/sin½ Θ( ½ mD ) x ( COS ½ Θ)SIN ½ ΘmR =
  12. 12. For example :Radiation cone degree 45º : ΘMeasure range 1 meter : mRMobot diameter 0,2 meter : mDmR = R cos ½ ΘRadiationCone : RR = ½ mD/sin½ Θ( ½ mD ) x COS ½ Θ)SIN ½ ΘmR =( ½ 0,2) x ( COS ½ 45º)SIN ½ 45ºmR =mR = 0,24meter

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