Dynamic Performance Measurement of Proximity Sensors for a Mobile Robot

Abstract

Knowledge about dynamic performance is very important for a control system. When carrying out static performance of a mobile robot, the sensing distance of various materials is established. However, based solely on this factor for controlling the mobile is not exact. Because in fact, many factors will influence to mobile robot controlling, they are determined by the relationship between the physical quantity in the measurement. Through a detailed study of theoretical knowledge and by some empirical methods of the conveyor system, we can determine the relationship of the dynamic parameters, such as: velocity, sensing distance, dimension of material, thickness of material, and so on. Experimental results demonstrate that the shape as the output signal depends on the type of sensor being used. To research the scope of the mobile robot, an analog proximity sensor is optimal, and to identify the output signal ON or OFF, the selection of digital sensor is better than an analog sensor. This is as a basis to improve the theoretical knowledge of mobile robot controller through the proximity sensor. Simultaneously, with these results, mobile robot is able to sense its world and change its behaviour on that basis.