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Laser Navigation Package

The Laser Mapping and Navigation accessory package for MobileRobots research platforms provides a SICK laser rangefinder fully integrated with the robot platform and onboard computer (power and data), and includes a suite of development software for automatically creating maps, and for accurate, autonomous intelligent localization and navigation of the robot.  Laser navigation can be used in most indoor spaces, and also in outdoor spaces on level ground if enough buildings and stationary obstacles surround the operating environment.


Package Includes:

  • SICK LMS-100 or LMS-500 laser rangefinder on Pioneer 3 robots,  SICK S-300 on Pioneer LX, SICK LMS-111 on Seekur and Seekur Jr, or SICK TiM 510 with wifi connection on Amigobot. Alternate supported lasers may be available upon request.
  • Mounting hardware for the robot base platform, assembled
  • All cabling, power supply, etc., assembled
  • Mapper3 map making software
  • ARNL intelligent localization and navigation development libraries
  • MobileEyes remote GUI application
  • All hardware assembled, installed and tested on your robot
  • All software installed on onboard computer. Help, documentation and lifetime upgrades.
  • Robot is ready to begin mapping and demonstrating navigation capabilities immediately out of the box



  • Robot base platform
  • The optional integrated gyroscope correction system for the robot base is recommended for greater accuracy
  • Onboard computer (Except on Laser AmigoBot with wifi interface: software can connect to both laser and robot using wifi interface.  Pioneer LX always includes onboard computer.)


  • The laser navigation system may be used to autonomously drive some robots into automatic recharging stations.
  • For outdoor robots equipped with GPS, the laser navigation software may be used in the same program as the MOGS outdoor navigation system.

Proven software

ARNL laser navigation system is based on navigation software previously used by Adept's industrial and commercial systems, relying on the same laser mapping and navigation algorithms and techniques which continue to power highly reliable delivery and manufacturing systems for industrial customers around the world.

Quick laser mapping

Mapping a location is simple. Just teleoperate the robot around the environment to be mapped while laser data is captured. Then load the data into Mapper3 and watch as walls, doors and furniture appear. Are there people walking by? No problem. Moving objects will typically disappear or may be edited out later.

Comparing laser and sonar navigation

Within a single plane, the precision of lasers is 25 times that of sonar (180 readings in 180 degrees vs. 8). The error rate of sonar is far higher because the sonar is emitted in a 15-degree cone and depending upon the surface ahead, sound may bounce away from the detector. Also false positives are not uncommon. Sonars' sensing cone, however, does mean that they can see objects outside the single plane sensed by a single laser. Lasers can sense objects further – up to 32 m -- while sonar cannot accurately read beyond 5 m.  A robot running with laser can operate for days, weeks or even months without becoming lost.

Also Available

Also available for purchase is laser rangefinder hardware only with mounting bracket and power supply/integration kit.

For extra obstacle sensing and avoidance, add a small Hokuyo URG or SICK TiM laser sensor at a higher or lower horizontal plane than the main laser.

Inquire for details.

SICK LMS-1xx Rangefinder Details

Now available are the SICK LMS-100 (for indoor use on Pioneer and other indoor robots) and LMS-111 (for outdoor use on Seekur and Seekur Jr. robots) rangefinders. The LMS-1xx lasers are smaller and lighter weight than the LMS-500 with lower power consumption, and feature an 270° field of view, but with lower scanning frequency and bit less range and more error.

Please specify when inquiring whether you are interested in the LMS-1xx or LMS-500.LMS-111

LMS-100 (indoor) LMS-111 (outdoor)
Outdoor use? No Yes
Laser class 1 (IEC 60825-1, 2007-3)
Field of view 270° max
(may be restricted based on mounting location on robot)
Scanning frequency 25 or 50 Hz
Operating range 0.5-20m (depending on resolution settings)
Resolution 1mm (1cm, or 10cm also available)
Angular resolution 0.5° or 1°
Systematic error ±30mm
Statistical error ±12mm
Interface Ethernet
Data transmission rate 100Mbit ethernet
Heater (defrost) Yes (switchable)
Fog correction Yes Yes
Operating voltage 10.8 ... 30 V DC
Power consumption (max) 20 W 20 W (60 W with heater on)
Enclosure rating IP 65 IP 67
Dimensions 105 mm x 102 mm x 152 mm 105 mm x 102 mm x 162 mm
Weight 1.1 kg
Vibration and shock resistance rating EN 60068-2-6 and 60060-2-27
Ambient operaing temperature 0° C ... 50° C
Storage temperature -30° C ... 70° C

Specifications per SICK

SICK LMS-500 Rangefinder Details

Please specify when inquiring whether you are interested in the LMS-1xx or LMS-500 for laser navigation with Pioneer 3 robots. The LMS-500 is not available on Seekur or Seekur Jr. robots.SICK LMS-500 Laser Rangefinder

Outdoor use? No
Laser class 1 (IEC 60825-1 (2007-6)), eye-safe
Field of view 190° max
( restricted to 180° when mounted on Peoplebot)
Scanning frequency 75 Hz (25, 35 and 50 Hz also configurable)
Range 0-80m (depending on settings)
Distance Resolution 1mm (1cm, or 10cm also configurable)
Angular resolution 0.25°, 0.5° or 1° configurable
Systematic error ±25mm
Statistical error ±7mm
Interface Ethernet (TCP)
Data transmission rate 100 Mbit
Operating voltage 24 VDC
Power consumption 22 W
Enclosure housing Aluminum diecast, IP 65 rating
Dimensions 160mm x 155mm x 185mm
Weight 3.5 kg
Vibration resistance rating EN 60068-2-6 (1995-04)
Shock resistance rating EN 60068-2-27 (1993-03)/EN 60068-2-29 (1993-04)
Ambient operaing temperature 0° C ... 50° C
Storage temperature -12° C ... 50° C

Specifications of LMS500-21000 per SICK

SICK TiM 510 Details

Available with wireless (wifi) connection on Laser Amigobot. (Note, early versions of the TiM 510 were known as TiM 310-M01)

Field of View 270°
Scan Frequency 15Hz
Range 0.05 .. 4.0 m
Angular Resolution
Systematic Error +/- 40mm
Statistical Error 30mm
Interface RS-232 bridged to wifi TCP socket (implemented in ARIA and ARNL)
Power 12V powered by robot, approx 4W
Size & Weight 60x60x79mm, 150g

Specifications per SICK