Principle and Robotic Applications of Conical Scanning Method

9th Thai Society of Mechanical Engineers, International Conference on Mechanical Engineering

Tobita, K.^1 ; Matsumoto, K.^2 ; Yotsuyaku, S.^3 ; Kanamori, C.^3

Department of Mechanical Engineering, Shizuoka Institute of Science and Technology, 2200-2 Toyosawa, Fukuroi, Shizuoka

437-8555, Japan^1

JGC Corporation, 2-3-1 Minatomirai, Nishi-ku, Kanagawa, Yokohama

220-6001, Japan^2

Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo

182-8585, Japan^3

关键词: Ambient light noise;    Calculation cost;    Environmental recognition;    High robustness;    Laser range finders;    Outdoor wheeled mobile robots;    Robotic applications;    Scanning methods;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/501/1/012047/pdf
DOI  :  10.1088/1757-899X/501/1/012047

来源: IOP

【 摘 要 】

We have proposed a surrounding environmental recognition method using conical scanning distance measurement for mobile robots. The conical scanning method has a high robustness against ambient light noise and its calculation cost is low. This report describes the principle of this method and the two implementations. The first application is the quadrupedal wheeled robot. The robot can recognize a stair in sight, approach to it and climb. A second application is the indoor-outdoor wheeled mobile robot. The robot can recognize its position and obstacles on floor from information of a laser range finder and a 3D ToF camera. The validity of this method was confirmed by these robotic applications.