Rajai, PaymanAhamed, Mohammed Jalal2018-11-052018-11-05May-18978-1-77355-023-7http://hdl.handle.net/10315/35219Interaural Intensity Difference (IID) in binaural sonar systems is used for echolocation and obstacle sensing. In this article, we show by simulation the optimized system’s parameters in terms of frequency, sensor separation distance and the working range for an IID based binaural sonar sensing system. Our result shows that the best performances with a frequency range between 100 to 300 kHz and a separation distance, depending on the size of the microphone, in our case between 2 cm to 5 cm within the working range of 1 m. The approach developed in this paper could be useful for mobile localization and mapping, particularly in compact size mobile devices.enThe copyright for the paper content remains with the author.componentacoustic sensorbinaural systemIntereraural Intensity DifferenceMechatronicsRobots and ControlArticle