This is a brief test of the port and starboard oblique infrared sensors (positioned about 25° off-axis) as used in developing an avoidance Behaviour. The idea here is that the difference in distance between the two sensors, as a ratio, is used to steer the robot away from obstacles. The closer to an obstacle on one side or the other will "push" the robot harder away from the obstacle as a inverse function of distance.
I'm visualising the ratio between the port and starboard sensors as a line expressing a percentage between -1.0 and 1.0 so that it's clear which side the robot perceives as closer. As my hand gets up closer to the sensor, the indicator pegs further towards the left or right.
NZPRG: robots.org.nz/