Figure 1.

This shows GRover’s frame and components: (a) is the SICK LMS-400 light radar (light detection and ranging, LiDAR), mounted 2.25 m above the ground at a 45-degree angle. The LiDAR scans at 250 Hz at a wavelength of 650 nm and a range of 3 m; (b) shows the masts on which instruments can be mounted—each mast can be moved up, down, away from or toward the frame; (c) each of the front wheels contained an electric motor; (d) shows the 48v batteries used to power the wheels; (e) is the 24v instrument battery which was split into separate voltages by (f) the junction box; (g) is the spring-armed wheel encoder, which tracked the linear distance travelled during scans; (h) the data from the LiDAR, encoder and Global Positioning System with Inertial Measurement Unit (GPS/IMU), which was attached to the top of the LiDAR, were relayed back to (i) the field laptop.