Optimally overlapped ultrasonic sensor ring with minimal positional uncertainty in obstacle detection

This paper presents the optimal overlapping of low directivity ultrasonic sensors for minimal positional uncertainty in obstacle detection. First, it is shown that the beam overlapping divides the entire sensing zone of each ultrasonic sensor into three subzones, which leads to significant reduction in positional uncertainty. Second, the design index for an overlapped ultrasonic sensor ring is defined as the closeness in area between the unoverlapped and the overlapped sensing subzones. Third, using commercial low directivity ultrasonic sensors, the optimal design of an overlapped ultrasonic sensor ring is given along with its prototype installed on top of a mobile robot.