Research and design of multi-sensor ranging system on mobile robot

The hardware circuit and corresponding software of multi-sensor ranging system were designed.High speed amplifiers and comparators were used to reduce signal delay time,dou-comparator reshaping circuit was used to eliminate the front time error of echo,and FPGA was used as high speed counter.All these were to improve the ultrasonic ranging precision.Infrared ranging sensor and collision-switch were made up for the blind-spot of ultrasonic sensor.In the near distance measurement scope,experiments indicate that the precision of ultrasonic ranging method is millimeter.The multi-sensor ranging system can satisfy the needs of avoiding obstacles and location.