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Adept Lynx Platform User's Guide, Rev D
Page 86 of 126
Chapter 6: Operation
Glass, mirrors, and other highly-reflective objects cannot be reliably detected by the laser. Cau-
tion must be exercised when operating the platform in areas that have these types of objects. If
the platform will need to drive in close proximity of these objects, Adept recommends that you
use a combination of markings on the objects, such as tape or painted strips, and also use for-
bidden sectors in the map, so that the platform knows to plan paths safely around these
objects.
Sonar
Rear-Facing
The Adept Lynx platform’s two rear-facing sonar pairs are for obstacle-sensing while backing
up. The range is up to 5 m (16 ft), though the typical accurate range is only up to 2 m (10 ft).
Each pair consists of one emitter and one receiver. The sonar emitters and receivers are
identical physically, but the platform uses them differently.
The only two times the platform will back up is when docking on the docking station, or when
the bumper has hit an obstacle. In the latter case, the platform will back up just enough so that
it can rotate without touching the obstacle.
Front-Facing
The platform's front bumper houses two sonar pairs, for detecting low obstacles. Each pair con-
sists of one emitter and one receiver.
Other Sensors
Encoders and Gyroscope
Each wheel has an encoder that tells the navigation system how far the wheel has turned, and
in which direction. Each wheel also has a Hall sensor.
The Lynx core has a gyroscope mounted on it, to track the platform's rotation.
The combination of rotation and distance traveled are used by the platform to back up the
safety scanning laser during localization. These limit the area on the platform's map that the
platform needs to search.
Bumper
One bumper, with two pairs of sensors, is mounted at the front of the platform, should the
obstacle-avoidance systems fail to detect an obstacle.
Optional user (payload structure ) bumpers can be added using the User Bumper connector on
the rear upper core, in the payload bay.
6.7 Startup
By default, the Lynx core, safety scanning laser, and some auxiliary power start automatically
when you press ON. To change that behavior, or to assign AUX power to your own accessor-
ies, modify their related parameters from the MobilePlanner software. You can also control
power from a client connected with the Lynx core.