About Sharp IR sensors
http://www.acroname.com/robotics/info/articles/sharp/sharp.html#e8
The output voltage for the sharp IR sensor has to be linearized for useable sensing, an article about linearization could be found here
http://www.acroname.com/robotics/info/articles/irlinear/irlinear.html
To avoid the double sensitive zone (when moving too close to the sensor), one method COULD be combing 2 IR sensors that cover different ranges (To be implemented)
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