Environment Mapping
+
Ultrasonic ranging sweeps 360 degrees around each Scout robot, providing up to 48
measurements per cycle. A compact stepper motor provides precise and rapid position control. The high resolution and
fast scanning speed are appropriate for 2D mapping and navigation.
@@ -50,23 +51,25 @@ if (file_exists($cacheFile)) //we can read this cache file back reduce database
long term reliability
2. The EZ4 provides the narrowest sensing
area of the EZ™ family, allowing higher precision maps to be produced, while still
providing wide coverage for obstacle detection.
-
+
Cliff Detection
+
A trio of short range Sharp® IR rangefinders provide early warning of sharp drop-offs that
could compromise the robot's mission.
-
+
Odometry & Vehicle Dynamics
+
Vehicle position is tracked by quadrature encoders on each wheel resulting in 3mm linear accuracy
3. A custom IMU (inertial measurement unit) consisting of a 3-axis accelerometer
and pitch+yaw-rate gyroscope provide detail of the vehicle's motion in three dimensions.
-
+
Complementary Sensing
The sonar rangefinders are optionally supplemented by short range LED reflectance sensors for close wall
- following. Dual sensors on the front bumper provide resolved impact detection for escape manuevers or
+ following. A sensor on the front bumper provides resolved impact detection for escape manuevers or
when manipulating objects.