PL EN


Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
2012 | 3 | nr 3 | 45--52
Tytuł artykułu

Characterization of a Compact Laser Scanner as a Sensor for Legged Mobile Robots

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
This article considers selected operational characteristics and measurement errors of the 2D laser scanner URG-04LX, which is a compact sensor suitable for walking robots. Quantitative errors in range measurement are evaluated considering the intensity output available from the sensor. The obtained intensity values help to correct the range measurements with regard to the optical characteristics of the observed surfaces. Moreover, mixed measurements are characterized and compared to the mixed measurements characteristics in the popular Sick LMS 200 laser scanner. Finally, it is shown how taking into account the error characteristics of the URG-04LX scanner improves its performance as the main exteroceptive sensor of a small walking robot.(original abstract)
Rocznik
Tom
3
Numer
Strony
45--52
Opis fizyczny
Twórcy
  • Poznań University of Technology, Poland
  • Poznan University of Technology, Poland
  • Poznan University of Technology, Poland
Bibliografia
  • Skrzypczyński P., Multi-Agent Software Architecture for Autonomous Robots: A Practical Approach, Management and Production Engineering Review, 1, 4, 55-66, 2010.
  • Łabęcki P., Rosiński D., Skrzypczyński P., Terrain Map Building for a Walking Robot Equipped with an Active 2D Range Sensor, Journal of Automation, Mobile Robotics and Intelligent Systems, 5, 3, 67-78, 2011.
  • Skrzypczyński P., Laser scan matching for self-localization of a walking robot in man-made environments, Industrial Robot: An International Journal, 39, 3, 242-250, 2012.
  • Ye C., Borenstein J., Characterization of a 2-D Laser Scanner for Mobile Robot Obstacle Negotiation, Proc. IEEE Int. Conf. Robot. & Autom., Washington, pp. 2512-2518, 2002.
  • Adams M.D., Sensor modelling, design and data processing for autonomous navigation, World Scientific, 1999.
  • Kneip L., Tache F., Caprari G., Siegwart R., Characterization of the compact Hokuyo URG-04LX 2D laser range scanner, Proc. IEEE Int. Conf. on Robotics & Automation, Kobe, pp. 1447-1454, 2009.
  • Okubo Y., Ye C., Borenstein J., Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation, Unmanned Systems Technology XI, Proc. SPIE 7332, 2009 (on-line).
  • Kawata H., Ohya A., Yuta S., Santosh W., Mori T., Development of ultra-small lightweight optical range sensor system, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, pp. 1078-1083, 2005.
  • Łabęcki P., Nowicki M., Skrzypczyński P., Characterization of the Measurement Errors in a Miniature Laser Scanner for Walking Robots, Adaptive Mobile Robotics, (N. Cowan et al., eds.), Singapore, World Scientific, pp. 739-746, 2012.
  • Kawata H., Miyachi K., Hara Y., Ohya A., Yuta S., A method for estimation of lightness of objects with intensity data from SOKUIKI sensor, Proc. IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, Seoul, pp. 661-664, 2008.
  • Belter D., Skrzypczyński P., Rough terrain mapping and classification for foothold selection in a walking robot, J. of Field Robotics, 28, 4, 497-528, 2011.
  • Eberhart R.C., Kennedy J., A new optimizer using particle swarm theory, Proc. Int. Symp. on Micromachine and Human Science, Nagoya, pp. 39-43, 1995.
  • Łabęcki P., Rosiński D., Skrzypczyński P., Terrain perception and mapping in a walking robot with a compact 2D laser scanner, Emerging Trends in Mobile Robotics (H. Fujimoto et al., eds.), Singapore, World Scientific, pp. 981-988, 2010.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.ekon-element-000171570197

Zgłoszenie zostało wysłane

Zgłoszenie zostało wysłane

Musisz być zalogowany aby pisać komentarze.
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.