NDLI: 3D terrain measurement system with movable laser range finder

Content Provider	IEEE Xplore Digital Library
Author	Fujita, T. Kondo, Y.
Copyright Year	2009
Description	Author affiliation: Department of Electronics and Intelligent Systems, Tohoku Institute of Technology, 35-1 Yagiyama Kasumi-cho, Taihaku-ku, Sendai 982-8577, Japan (Fujita, T.; Kondo, Y.)
Abstract	This paper presents a method for measuring 3D environment by a tracked vehicle robot using a laser range finder (LRF) with an arm-type movable unit. The unit is mounted on the robot and the LRF is installed at the end of the unit. This sensing system enables the sensor to change position and to face at a right angle to a variety of configuration. Because of the occlusion can be avoided by this mechanism, the robot can measure a 3D configuration such as valley, gap, upward or downward stairs more accurately than conventional 3D sensing system with the LRF, which have generally used a rotating mechanism. In this study, we have designed and fabricated a prototype system of the movable LRF unit and mounted it on a tracked vehicle robot with two crawlers that we have been developing. Experimental results for basic 3D sensing showed that proposed system is useful for sensing more complex terrain.
Starting Page	1
Ending Page	6
File Size	553471
Page Count	6
File Format	PDF
ISBN	9781424456277
e-ISBN	9781424456291
e-ISBN	9781424456284
DOI	10.1109/SSRR.2009.5424153
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-11-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Crawlers Wheels Sensor systems Robot Arm Mobile robots Intelligent robots Vehicles Laser Range Finder(LRF) 3D Environment Sensing Prototypes Robot sensing systems Rubber Rotation measurement Tracked Vehicle
Content Type	Text
Resource Type	Article

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