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Buzz on the Khepera IV
The Khepera IV is a commercial robot produced by K-Team.
A Buzz port for the Khepera IV is available at https://github.com/MISTLab/BuzzKH4. An ARGoS plugin to simulate the robot is available at https://github.com/ilpincy/argos3-kheperaiv.
Supported Devices
Actuators
- Wheels
set_wheels()
gotop()
gotoc()
- LEDs
set_leds()
Sensors
- Proximity sensors
- The Khepera IV proximity 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.
proximity
is the Buzz table that contains the proximity readings. Each element of this table (e.g.,proximity[0]
,proximity[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 robotvalue
, which is the actual reading. Each individual sensor is saturated (value1.0
) 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
.
- Light sensors
- Ultrasound distance sensor
- LIDAR