Proximity sensors Arrangement on the FootBot Mobile robot

[Yuliana]

Hello,

i have two questions please

1. i was wondering about the arrangement of the sensors ( from 0 ... 23) on the Footbot Robot, and for the command

const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
2.

CVector2 tProxReads , we have a value which is the distnace from the corresponding sensor to some distance
the angle is from the heading of this sensor to m_fDelta ?

thank you!

[pincy]

Hi,

1. The arrangement of the foot-bot proximity sensors is shown here: https://github.com/ilpincy/argos3/blob/ ... y_sensor.h.
2. About

   Code: Select all

   const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
   what is the question? This is plain C++ to get the readings from the proximity sensor.
3. The returned data of each sensor is
   • A reading (a decaying exponential) that depends on the distance between the sensor and the object being detected. This reading is 0 when nothing is detected, and it increases exponentially to 1 when detected objects are closer.
   • The angle is measured between the nose of the robot (local X axis) and the angle at which the sensor is located on the body of the robot.

Cheers,
Carlo

[Yuliana]

Hello,

Thanks a lot, that makes sense and makes the idea really clear

Best,

[KariYergin]

As per my knowledge the reading that depends on the distance between the sensor and the object being detected. This reading is 0 when nothing is detected, and it increases exponentially to 1 when detected objects are closer.
The angle is measured between the nose of the robot and the angle at which the sensor is located on the body of the robot.

[Tianfu ZHANG]

Hi，

Could you please confirm the decaying exponential factor used for the relationship of distance and readings? Understanding this factor will help me convert the data into a pointcloud2 format for ROS2.

Many thanks,
Tianfu

Hi,

1. The arrangement of the foot-bot proximity sensors is shown here: https://github.com/ilpincy/argos3/blob/ ... y_sensor.h.
2. About

   Code: Select all

   const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
   what is the question? This is plain C++ to get the readings from the proximity sensor.
3. The returned data of each sensor is
   • A reading (a decaying exponential) that depends on the distance between the sensor and the object being detected. This reading is 0 when nothing is detected, and it increases exponentially to 1 when detected objects are closer.
   • The angle is measured between the nose of the robot (local X axis) and the angle at which the sensor is located on the body of the robot.

Cheers,
Carlo

[pincy]

You find the exact implementation of the proximity readings here.