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the holes with a 5/32-inch bit. Mount the circuit board to the robot
base using machine screws that match the threaded standoffs.
Ultrasonic Range Finding
An ultrasonic range finder will be added to Turtletron so that the
robot will be able to avoid obstacles while roaming in autonomous
mode or to inhibit movement when under remote control. The
robot will be able to determine the distance to an object from itself,
and then make decisions based on that information. The robot will
also have the ability to create a rudimentary map of the surround-
ing area before movement through the environment begins.

Devantech SRF04 ultrasonic range finder. A low-cost solution
is the Devantech SRF04 ultrasonic range finder, pictured in Figure
7.13. This device offers precise ranging information from 3 cm to
3 m, is easy to interface, and its minimal power requirements make
it an ideal ranger for mobile robotics applications. It is available
from Acroname Robotics Inc., and can be purchased from their
Web site at www.acroname.com.

FIGURE 7.13
Devantech SRF04
ultrasonic range finder.

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