Here's a pretty cool project that utilizes the cheap HC-SR04, actually, 8 of them at once for a 360 degree view for autonomous locomotion and parking. Not for commercial or industrial deployments thought, but it's good for learning how to fire 8 of these sensors without blocking the code and for testing various navigation algorithms without spending a wad of cash of lidars etc.
Oh, you don't have to buy the board if you don't want to. Just running through the concept and code is already really interesting.
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Some of my projects and a catalog of Useful Information I came across in my journey in IoT, AI, Automation, Robotics and Data Science.