Basic Sensors – Laser Distance Sensor

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Presentation transcript:

Basic Sensors – Laser Distance Sensor Robotics Beginner Course – 03 Young Joon Kim http://www.helloapps.com

Topics Add LRF sensor Detect distances Reaction for the detection

Add LRF Sensor

Add LRF sensor Start with basic obstacle and base platform

Add LRF sensor Add “AddLaserRangeFinderEntity” from the “Entities” tab Add “FlushScript” command

Add LRF sensor Run script

Add LRF sensor Save script as follows /Script/LRF1.txt

Detecting distances

Laser Sensor Data DistanceMeasurements Array of 361 distances For 180 angles, Detect distances by 0.5 degrees 180th 270th 90th 0th index 360th Millimeter unit, max distance is 8m(8000 millimeter)

Laser Sensor Data Distance for the front direction SensorData.DistanceMeasurements[180] Distance for the right 45 degrees direction SensorData.DistanceMeasurements[90] Distance for the left 45 degrees direction SensorData.DistanceMeasurements[270] Distance for the right direction SensorData.DistanceMeasurements[0] Distance for the left direction SensorData.DistanceMeasurements[360]

Detecting distances VPL Diagram

Detecting distances Run diagram

Reaction for the detection

Reaction for the contact VPL diagram

Reaction for the contact Run diagram