Khepera IV

Laser Range finder (LRF)


The expansion turret can receive in option a Laser Range Finder module. 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.
Technical specification of the LRF module:


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
Scanning time 100ms / scan


LRF module on the expansion turret


Recommended price for the expansion turret with the LRF module : 1890 CHF  (excluding local taxes and shipping cost)


Find your local distributor.


User Manual


  • will be included in the new Libkorebot library