Long Distance Object Avoidance and Navigation

Posted: 2010/09/22 in Uncategorized

A sonar mounted on a servo motor is used to detect long-range objects and also used to map the rover’s surroundings.

Sonar

Orientable SONAR

The sonar is mounted on top of a standard hobby RC servo.  The servo is mounted to the rover’s shell.

The servo / SONAR combination is used to map the objects and clear areas surrounding the rover.

This information is stored in an array that can then be used for navigation.

Using some simple geometry the rover can determine the best possible direction based on the distance and the space between objects.

These algorithms have been tried and proven on the first rover.  Some recalibration will be required since the position and alignment of the SONAR is not the same on MK II.

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