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buzz_kh4 [2018/03/20 15:53] – [Sensors] root | buzz_kh4 [2019/03/31 19:39] – [Sensors] ilpincy |
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* ''value'', which is the actual reading. Each individual sensor is saturated (value ''1.0'') by objects closer than 4 cm; the maximum range of the sensor is 12 cm. Between 4 and 12 cm, the readings follow an exponential law with the distance: ''%%4.14*exp(-33.0*distance)-.085%%''. | * ''value'', which is the actual reading. Each individual sensor is saturated (value ''1.0'') by objects closer than 4 cm; the maximum range of the sensor is 12 cm. Between 4 and 12 cm, the readings follow an exponential law with the distance: ''%%4.14*exp(-33.0*distance)-.085%%''. |
* To activate this sensor in ARGoS, use the ''kheperaiv_proximity'' sensor. | * To activate this sensor in ARGoS, use the ''kheperaiv_proximity'' sensor. |
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| * **Light sensors** |
| * The Khepera IV light sensor is a set of 8 infrared emitter/receiver pairs distributed regularly in a ring around the robot. The sensors are numbered 0 to 7. Sensor 0 looks straight ahead, and the numbers increase counterclockwise when looking at the robot from above. |
| * ''light'' is the Buzz table that contains the light readings. Each element of this table (e.g., ''light[0]'', ''light[1]'', ...) is in turn a table that contains two elements: |
| * ''angle'', which corresponds to the angle (expressed in radians) at which the sensor is located on the body of the robot |
| * ''value'', which is the actual reading. The sensors all return a value |
| between 0 and 1, where 0 means nothing within range and 1 means the perceived |
| light saturates the sensor. Values between 0 and 1 depend on the distance of the perceived light. In ARGoS, each reading ''R'' is calculated with ''%%R=(I/x)^2%%'', where ''x'' is the distance between a sensor and the light, and ''I'' is the reference intensity of the perceived light. The reference intensity corresponds to the minimum distance at which the light saturates a sensor. |
| * To activate this sensor in ARGoS, use the ''kheperaiv_light'' sensor. |
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| * **Ultrasound sensors** |
| * The Khepera IV ultrasound sensor is a set of 5 emitter/receiver pairs distributed regularly in an arc in front of the robot. The sensors are numbered 0 to 4. Sensor 0 looks straight ahead, and the numbers increase counterclockwise when looking at the robot from above. |
| * ''ultrasound'' is the Buzz table that contains the ultrasound readings. Each element of this table (e.g., ''ultrasound[0]'', ''ultrasound[1]'', ...) is in turn a table that contains two elements: |
| * ''angle'', which corresponds to the angle (expressed in radians) at which the sensor is located on the body of the robot |
| * ''value'', which is the actual distance of the detected obstacle in cm. Each individual sensor is saturated by objects closer than 25 cm; the maximum range of the sensor is 200 cm. |
| * To activate this sensor in ARGoS, use the ''kheperaiv_ultrasound'' sensor. |
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| * **LIDAR sensor** |
| * The Khepera IV LIDAR sensor returns 682 readings in a 270 degrees arc (if not configured to return less readings in the ''.argos'' file). |
| * ''lidar'' is the Buzz table that contains the LIDAR readings. Each element of this table (e.g., ''lidar[0]'', ''lidar[1]'', ...) is the distance of the object detected by a specific laser beam. |
| * To activate this sensor in ARGoS, use the ''kheperaiv_lidar'' sensor. |
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* **Battery sensor** | * **Battery sensor** |