buzz_kh4

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
Last revisionBoth sides next revision
buzz_kh4 [2018/03/20 15:52] – [Sensors] rootbuzz_kh4 [2019/03/31 19:39] – [Sensors] ilpincy
Line 33: Line 33:
       * ''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.
 +
 +  * **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.
 +
 +  * **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.
 +
 +  * **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.
  
   * **Battery sensor**   * **Battery sensor**
     * This sensor returns the state of the battery.     * This sensor returns the state of the battery.
     * ''battery'' is a table that contains two elements:     * ''battery'' is a table that contains two elements:
-      * ''available_charge'', a value between 0.0 and 1.0 +      * ''%%available_charge%%'', a value between 0.0 and 1.0 
-      * ''time_left'', the number of control steps before battery depletion+      * ''%%time_left%%'', the number of control steps before battery depletion
       * To activate this sensor in ARGoS, use the ''battery'' sensor.       * To activate this sensor in ARGoS, use the ''battery'' sensor.
  
  • buzz_kh4.txt
  • Last modified: 2019/04/05 13:31
  • by ilpincy