Sailing system based in ultrasound and infrared applied to a mobile robot

This paper presents a proposal of a sailing control based on infrared and ultrasound sensors applied to robotics. The system's control is based on the “EyeBot” board. The sensing subsystems for infrared and ultrasound transducers are designed to be used in the construction of experimental robots of general purpose. The actuators used are DC motors and servomotors. In order to verify the operation of the systems, a mobile robot that evades obstacles and allows knowing the distance from such obstacle to the robot was built. The system configuration consists of two ultrasound transducers placed in the front and back of the mobile, and the infrared ones placed on the sides. This configuration gives autonomy to the robot, allowing the obstacles' evasion and avoiding collisions with objects around to generate possible escape routes. It is important to highlight that the systems were built in a modular way, which allows different configurations according to the user needs. As future work, modules for light intensity and sound detection will be added in order to provide more flexibility to the system.