An Innovative Tilt Sensor Based on Terrestrial Gravity and Ultrasonic Wave's Diffraction for Mobile Robots

This paper presents a development of a novel ultrasonic tilt sensor which provides low-cost and high-precision measurements of tilt. The origin of the idea of this sensor and its operating principle is first presented. Then, a reduced mathematical model of this sensor and simulation results are given. Finally, the developed prototype and test results are described.