1. Basic Sensors – Laser Distance Sensor
Robotics Beginner Course – 03
Young Joon Kim

2. Topics
Add LRF sensor
Detect distances
Reaction for the detection

3. Add LRF Sensor

4. Add LRF sensor
Start with basic obstacle and base platform

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

6. Add LRF sensor
Run script

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

8. Detecting distances

9. 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)

10. 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]

11. Detecting distances
VPL Diagram

12. Detecting distances
Run diagram

13. Reaction for the detection

14. Reaction for the contact
VPL diagram

15. Reaction for the contact
Run diagram