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Section 2: Obstacle Avoidance
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Button Crosstalk
  Problem with multiple sonars: One sensor picks up echo from other sensors; registers false reading.
  Most systems wait for long time before firing next sonar Þ slow travel speeds.
  UM developed patented Error Eliminating Rapid Ultrasonic Firing (EERUF).
  With EERUF sonars can fire fast, producing data for obstacle avoidance at travel speed of 4 feet/sec.
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A TRC LabMate equipped with 8 Polaroid sensors under EERUF dashes through an obstacle course of densly spaced, pencil-thin poles. The stationary CARMEL in the background introduces ultrasonic noise with its 24 Polaroid sensors.
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