In experimental robotics it is common to complement the motion planning algorithm with a local obstacle avoidance module. We are concerned here with the specifications of a range sensor specifically design for the task. Such sensor has special requirements: it has to guarantee detection and response, and it has to guarantee throughput, providing information at a rate in proportion to robot velocity. An analysis is presented which allows the selection of the sensor requirements for collision

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... dance tasks in mobile robots. The design takes into account robot dynamics, it is compatible with fast motion -only the indispensable environment zones are exploredand avoids unnecessary velocity reductions. Experiments show the possibilities and limitations of the approach.