Specifications

The Enhancement of a Multi-Terrain Mechatron for Autonomous Outdoor Applications
114
also curves back at low distances providing a non-unique relationship between
distance and output voltage.
Figure 4.30 LEFT: MATLAB Curve Fitting toolbox for infrared data RIGHT:
Theoretical infrared sensor response
The resulting equation giving object range indoors in terms of output voltage is a
rational polynomial given by Equation 4.2. Utilizing a quadratic function on the
numerator and linear function on the denominator the curve fits the experimental data
very well. Additionally the equation for outdoor operation has been determined and
accounts for the lower range detection ability due to ambient lighting conditions. The
outdoors range equation is given by Equation 4.3.
Equation 4.2
Equation 4.3
(
)
()
1
32
2
1
)(
qV
pVpVp
cmeIndoorRang
+
++
=
081290
68
29030
8092
1
3
2
1
.
.
.
=
=
=
−
=
q
p
p
p
(
)
()
1
32
2
1
qV
pVpVp
cmgeOutdoorRan
+
++
=)(
33917
9144
7349
1687
1
3
2
1
.
.
.
.
=
=
−=
=
q
p
p
p