Using infrared sensors for distance measurement in mobile robots

Abstract

The amplitude response of infrared (IR) sensors based on reflected amplitude of the surrounding objects is non-linear and depends on the reflectance characteristics of the object surface. As a result, the main use of IR sensors in robotics is for obstacle avoidance. Nevertheless, their inherently fast response is very attractive for enhancing the real-time operation of a mobile robot in, for instance, map building tasks. Thus, it seems that the development of new low-cost IR sensors able to accurately measure distances with reduced response times is worth researching. In this paper, a new IR sensor based on the light intensity back-scattered from objects and able to measure distances of up to 1 m is described. Also, the sensor model is described and the expected errors in distance estimates are analysed and modelled. Finally, the experimental results obtained are discussed. © 2002 Elsevier Science B.V. All rights reserved.

DOI: 10.1016/S0921-8890(02)00271-3

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@article{Benet2002UsingIS, title={Using infrared sensors for distance measurement in mobile robots}, author={Gin{\'e}s Benet and Francisco Blanes and Jos{\'e}-Enrique Sim{\'o}-Ten and Pascual P{\'e}rez}, journal={Robotics and Autonomous Systems}, year={2002}, volume={40}, pages={255-266} }