It is used to do navigation, specially for mapping and localization. A laser inside the sensor is scanning the robot environment, measuring each 0.36 degres the distance from any object at its height.

The model which can be used is the URG-04LX-UG01 from the Hokuyo company. The turret gives the mechanical support for the sensor and the connectivity for it. In option, you can add a battery with the external charger pack in order to save the Khepera IV robot autonomy.

 

Elements	Technical Information
Range	20 mm to 5600 mm
Accuracy	60 to 1000mm : ±30mm , 1000 to 4095mm : ±3% of measurement
Angular resolution	approx. 0.36 degree
Autonomy	2 hours
Weight	300g
Software	Libkorebot, drivers for Player/Stage
Scanning time	100ms / scan