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Section 2: Obstacle Avoidance |
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| Problem with multiple sonars: One sensor picks
up echo from other sensors; registers false reading.
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| Most systems wait for long time before firing
next sonar Þ slow travel speeds. |
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| UM developed patented Error Eliminating Rapid
Ultrasonic Firing (EERUF). |
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| 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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| *Video clip is 7 MB in size
and may take several minutes to download on a slow connection. |
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