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

• Autorzy: Przemysław Łabęcki , Michał Nowicki , Paweł Skrzypczyński
• 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)

Słowa kluczowe

EN

Robotization; Measuring errors; Machinery and equipment

PL

Robotyzacja; Błędy pomiarowe; Maszyny i urządzenia

• Czasopismo: Management and Production Engineering Review
• Rocznik: 2012
• Tom: 3
• Numer: nr 3
• Strony: 45--52

Twórcy

autor

Przemysław Łabęcki

• Poznań University of Technology, Poland

autor

Michał Nowicki

• Poznan University of Technology, Poland

autor

Paweł Skrzypczyński

• Poznan University of Technology, Poland

Bibliografia

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Identyfikatory

DOI

10.2478/v10270-012-0023-z