Optimal design of overlapped ultrasonic sensor ring for minimal positional uncertainty

This paper presents the optimal design of an overlapped ultrasonic sensor ring for minimal positional uncertainty in obstacle detection. It is assumed that a set of low directivity ultrasonic sensors of the same type are arranged in a circular array at a regular spacing with their beams overlapped. First, the optimal design index for an overlapped ultrasonic sensor ring is defined as the area ratio of the unoverlapped to the overlapped sensing subzones. Second, two optimal design problems of an overlapped are stated with the restriction on the number of ultrasonic sensors required for effective beam overlapping. Third, using commercial ultrasonic sensors, an optimal design of an overlapped ultrasonic sensor ring is given along with its prototype mounted on top of a mobile robot.