|SLAM from 5 positions joined into a best belief map. Red is particle filter position likelihood estimation. Green lines are Sonar and yellow are IR distance readings. Rectangles + line shows old and current poses. Circles are 10 cm apart.|
The sensor-readings consists of IR and Ultrasonic distance sensors on a servo taking readings 1 degree apart. resulting in 170 distance readings per pose. I have a compass but I'm not using it right now. These sensor-readings are used to estimate the new position using a particle filter.
|Robot with LiPo battery. IR-sensor and Ultrasonic sensor on a servo in the front.|
IR has small angle but is sensitive to reflective, transparent and luminescent materials. It also behaves badly on striped materials. And my IR sensor also works ok between 20 and 100 cm.
Ultrasonic sensor has wide angle 15-20 degrees, is quite precise, works on most materials that I know of but is sensitive to steep angles.