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. 2017 May 7;17(5):1061. doi: 10.3390/s17051061

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© 2017 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Obstacle detection: $r a t i o (m k p)$ = 1.20, $r a t i o (C)$ = 2.15 and $d i s t a n c e$ = 126 cm.