Sensor Management for Local Obstacle Detection in Mobile Robots

In experimental robotics it is common to complement the motion planning algorithm with a local obstacle avoid-ance module. We are concerned here with the specifica-tions of a range sensor specifically design for the task. Such sensor has special requirements: it has to guar-antee detection and response, and it has to guarantee throughput, providing information at a rate in propor-tion to robot velocity. An analysis is presented which al-lows the selection of the sensor requirements for collision avoidance tasks in mobile robots. The design takes into account robot dynamics, it is compatible with fast motion –only the indispensable environment zones are explored– and avoids unnecessary velocity reductions. Experiments show the possibilities and limitations of the approach.