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The infrared ranging modules that are being considered for this
platform are Sharp GP2D02 type sensors. These sensors are able to
detect an object in the range of 10cm to approximately 80cm.
These modules will be mounted on the periphery of the sonar
modules to detect obstacles coming up at an angle to the platform.
As well a sensor will be mounted on each side of the platform to
allow for wall following, and hallway traversal, this will be
possible by keeping the distance signal on each side of the
platform the same.
Finally drivers need to be written to control these modules, these
drivers will be written in a similar way to the sonar drivers.