Ultrasonic pulse-echo devices have shown utility for obstacle detection in numerous mobile robot research efforts, as well as in commercial automatic guided vehicles (AGVs). A method for quickly obtaining multiple sonar range readings is presented. Thirty ultrasonic transducers are arranged in a ring and controlled by a computer. The system is predominantly composed of commercially available parts. Hardware specifications and operation details of this system are outlined.
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S. H. G. Walter (2005) studied this question.
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