Sonar - Omron Pioneer LX User Manual

Table of Contents
The SICK S300 can be configured to trigger robot stop signals based on obstacle zone detection. This is
normally disabled. Configuration software tools are available from SICK for modifying laser
configuration.
ARNL will use this laser as its primary sensor. Software can also use ARIA to obtain sensed obstacle data
from the laser.
LD-series Pioneer LX robots also include a SICK TiM 510 laser rangefinder mounted closer to the floor to
help detect smaller objects as well. (AUX sensor C.) Connectors are provided for up to two additional
SICK TiM 510 laser rangefinders as well (AUX sensors A and B).

Sonar

Lynx-based Pioneer LX robots include two short-range ultrasonic sensors (sonar) for extra sensing near
the floor in front of the robot. These were removed for the LD-series robots; they are replaced by a small
laser rangefinder.
All Pioneer LX robots include two rear short-range ultrasonic (sonar) sensors on the rear. Note that with
only these rear short-range sonar sensors, rear sensing is limited. Most operation of the robot should be
forward motion and rotation only.
Bumper
One bumper panel, with two pairs of sensors, is mounted at the front of the platform, should the obstacle-
avoidance systems fail to detect an obstacle. The Pioneer LX indicates a left bumper hit (0) to software if
only the left side of the bumper panel is triggered, a middle bumper hit (1) if both sides of the bumper
panel are triggered, and a right bumper hit (2) if the right side is triggered.
Aditional user-supplied bumper switches can be added using the User Bumper connector on the rear
upper core, in the payload bay.
Internal Sensors
Encoders and Gyroscope
Each wheel has an encoder that tells the robot controller how far the wheel has turned, and in which
direction. Each wheel also has a Hall sensor. The core contains a gyroscopic sensor as well, to measure
rotation.
The robot's controller uses these internal sensors for feedback as it maintains requested velocities, and
when it estimates robot position and velocity, which are provided to the software. Raw encoder and gyro
data are not available to user software.
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