Revision 781890a0
ID | 781890a0a437f072a6be18ceb37345bd650632b9 |
Updated website structure, navigation, and graphics.
docs/www/colonyscout/sensors.php | ||
---|---|---|
40 | 40 |
</p> |
41 | 41 |
<div class="hr"></div> |
42 | 42 |
|
43 |
<div id="sensor" style="display:none;">
|
|
43 |
<div id="sensor"> |
|
44 | 44 |
|
45 | 45 |
<h2>Environment Mapping</h2> |
46 |
<img src="/images/sensors_sonar.jpg" style="float:left;margin:0px 10px 10px 0px;"> |
|
46 | 47 |
<p>Ultrasonic ranging sweeps 360 degrees around each Scout robot, providing up to 48 |
47 | 48 |
measurements per cycle. A compact stepper motor provides precise and rapid position control. The high resolution and |
48 | 49 |
fast scanning speed are appropriate for 2D mapping and navigation.</p> |
... | ... | |
50 | 51 |
long term reliability<span class="super">2</span>. The EZ4 provides the narrowest sensing |
51 | 52 |
area of the EZ™ family, allowing higher precision maps to be produced, while still |
52 | 53 |
providing wide coverage for obstacle detection.</p> |
53 |
<div class="hr"></div> |
|
54 |
<div class="hr" style="clear:both;"></div>
|
|
54 | 55 |
|
55 | 56 |
<h2>Cliff Detection</h2> |
57 |
<img src="/images/sensors_cliff.jpg" style="float:left;margin:0px 10px 10px 0px;"> |
|
56 | 58 |
<p>A trio of short range Sharp® IR rangefinders provide early warning of sharp drop-offs that |
57 | 59 |
could compromise the robot's mission.</p> |
58 |
<div class="hr"></div> |
|
60 |
<div class="hr" style="clear:both;"></div>
|
|
59 | 61 |
|
60 | 62 |
<h2>Odometry & Vehicle Dynamics</h2> |
63 |
<img src="/images/sensors_imu.jpg" style="float:left;margin:0px 10px 10px 0px;"> |
|
61 | 64 |
<p>Vehicle position is tracked by quadrature encoders on each wheel resulting in 3mm linear accuracy |
62 | 65 |
<span class="super">3</span>. A custom IMU (inertial measurement unit) consisting of a 3-axis accelerometer |
63 | 66 |
and pitch+yaw-rate gyroscope provide detail of the vehicle's motion in three dimensions. |
64 | 67 |
</p> |
65 |
<div class="hr"></div> |
|
68 |
<div class="hr" style="clear:both;"></div>
|
|
66 | 69 |
|
67 | 70 |
<h2>Complementary Sensing</h2> |
68 | 71 |
<p>The sonar rangefinders are optionally supplemented by short range LED reflectance sensors for close wall |
69 |
following. Dual sensors on the front bumper provide resolved impact detection for escape manuevers or
|
|
72 |
following. A sensor on the front bumper provides resolved impact detection for escape manuevers or
|
|
70 | 73 |
when manipulating objects. |
71 | 74 |
</p> |
72 | 75 |
<div class="hr"></div> |
Also available in: Unified diff