1. Aditya Kurniawan, S.ST
Mobile Robot Sensing Design
ULTRASONIC RANGEFINDER

2. RadiationCone : R
TX
RX
0 ms
200 ms
Sound speed : 344 m/s
t(d) : 200ms
Distance : 34 meter

3. Radiation cone
Measure
range
1 meter
Mobot diameter
The relation of distance read
by ultrasonic to clearance

4. Clear path

5. Unclear path
Barrier detected
at 1 meter
1meter

6. Clear path

7. Unclear path
Barrier NOT
detected
1meter

8. Unclear path
Provide collision
1meter

9. Radiation cone
Measure
range
1 meter
For example :
Radiation cone 45º
Measure range 1 meter
Mobot diameter 0,2 meter
Mobot diameter

10. Radiation cone
Measure
range
For example :
Radiation cone degree 45º : Θ
Measure range 1 meter : mR
Mobot diameter 0,2 meter : mD
mR = R cos ½ Θ
RadiationCone : R
R = ½ mD/sin½ Θ

11. For example :
Radiation cone degree 45º : Θ
Measure range meter : mR
Mobot diameter 0,2 meter : mD
mR = R cos ½ Θ
RadiationCone : R
R = ½ mD/sin½ Θ
( ½ mD ) x ( COS ½ Θ)
SIN ½ Θ
mR =

12. For example :
Radiation cone degree 45º : Θ
Measure range 1 meter : mR
Mobot diameter 0,2 meter : mD
mR = R cos ½ Θ
RadiationCone : R
R = ½ mD/sin½ Θ
( ½ mD ) x COS ½ Θ)
SIN ½ Θ
mR =
( ½ 0,2) x ( COS ½ 45º)
SIN ½ 45º
mR =
mR = 0,24meter