Robotics lll

NOVEMBER 2021 PAG. 7
Proximity Sensor (Ray type)
• Don't allow detections if distance
smaller than:
some sensors have a minimum detection distance
(e.g. ultrasonic sensors) from which the sensor won't
be operating anymore (i.e. the object to be detected is
too close from the sensor). To model this behavior,
one could simply set an offset for the detection
volume, but by doing so the sensor will still be able to
detect other objects that are located farther away. A
real sensor would have its "view field" blocked by the
closer object and not detect anything. This can be
modeled by indicating a minimum detection distance
(a mask distance) that, if undershot, would simply
disable detection.
• Randomized ray detection:
Randomized ray detection is available only
for randomized ray type proximity sensors.
During randomized ray detection, a ray will
sweep a cone-shaped volume in a random
fashion. You can specify how many random
rays the sensor should check (ray count),
and how many ray detections are required
to trigger the sensor (ray detections count
for triggering).
• Pyramid-type:
The pyramid-type proximity sensor is
ideally suited for simple modeling of a
proximity sensor with a detection volume
that is rectangular. They are very fast.
• Cylinder-type:
The cylinder-type proximity sensor is
ideally suited for simple modeling of a
proximity sensor with a detection volume
that is revolute. They are very fast.
• Disk-type:
The disk-type proximity sensor allows
precisely modeling of a proximity sensor
with a revolute-scanning detection volume.
Depending on the selected precision and
operation mode, they can be a little bit
more calculation intensive.
SLIDESMANIA.COM
[Two proximity sensors, one without mask distance
(left), the other with mask distance (right)]
• Cone-type:
The cone-type proximity sensor allows for
the best and most precise modeling of
most proximity sensors. Depending on the
selected precision and operation mode,
they can be a little bit more calculation
intensive.
Salvador Pintor Castillo