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Mobile Robot Obstacle Detection using an Overlapped Ultrasonic Sensor Ring

This paper presents the obstacle detection of a mobile robot using an ultrasonic sensor ring with overlapped beam pattern. Basically, it is assumed that a set of ultrasonic sensors are installed at regular intervals along the side of a circular mobile robot of nonzero radius. First, by exploiting the overlapped beam pattern, it is shown that the positional uncertainty inherent to an ultrasonic sensor can be significantly reduced for both single and double obstacle detection. Second, given measured distances from adjacent ultrasonic sensors, the geometric method of computing the position of the detected obstacle with respect to the center of a mobile robot is described. Third, through experiments using our ultrasonic sensor ring prototype, the validity and the performance of the proposed overlapped ultrasonic sensor ring are demonstrated.