Development of an Omni-directional distance sensing system for the Deci Zebro

In this thesis, we describe the design process of a distance sensing system for the Deci Zebro swarm robots. We use a technique that transmits a radio frequency message and a ultrasonic pulse concurrently. Due to the difference in propagation speed of both signals, the distance could be measured using time difference of arrival (TDOA). A cone shaped antenna is designed to create a 360 ultrasonic pulse coverage. At the end of this thesis we present a prototype with a range of 7 m. We find a linear relation between the TDOA and the actual distance between the modules. We thus conclude that our prototype is suitable for range measurements on roving swarm robots.Zebro ProjectElectrical Engineerin