IR sensor array for a mobile robot

摘要

This paper describes a new sensor system for improving the accuracy of the range information using multiple IR range sensors. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners cover 180deg and accurate but are too expensive. Radial range sensors such as laser scanner, IR scanner and ultrasonic range sensor ring have blind spots so that small obstacle not close to the sensor may be easily missed. It is necessary to develop a low cost sensor system which covers 360deg and with small blind spots. A sensor system with 12 IR range sensors (each rotates plusmn37.8deg for overlapping area to reduce the blind spot) is designed and implemented. Iterative estimation of range from the IR sensor information is developed and verified with experiments