In the previous chapter, we have seen the interfacing of some actuators for our service robot. The next important section that we need to cover is about the robotic sensors used in this robot.

We are using sensors in this robot to find the distance from an obstacle, to get the robot odometry data, and for robotic vision and acoustics.

The sensors are ultrasonic distance sensors, or IR proximity sensors are used to detect the obstacles and to avoid collisions. The vision sensors such as Kinect to acquire 3D data of the environment, for visual odometry; object detection, for collision avoidance; and audio devices such as speakers and mics, for speech recognition and synthesis.

In this chapter, we are not including vision and audio sensors interfacing because in the upcoming chapter we will discuss them and their interfacing in detail.