Ultrasound transducers
For indoor acquisition, our plarforms are equipped with a sonar belt composed of 12 Maxbotix EZ-2 ultrasound transducers. The sensors are positioned all around the robot; they are activated in groups, so to prevent crosstalk. The control electronics interfacing the transducer with the data-acquisition PC has been designed and built by POLIMI.
These sensors have limited range: therefore, they were not used for outdoor and mixed data-acquisition sessions.