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Existence sensors are binary. Each can tell whether a wall exists or not.
You have to use many existence sensors for error correction purposes
because you need a sensor to track each potential location that the
wall may appear. On the other hand, existence sensors are cheap and
easy to interface with. They are also very easy to interpret in
Typically, existence sensors can only detect walls that are immediately
around the robot. You can use the entire allow dimension of a
micromouse to maximize the mapping capability.