応用機械工学ジャーナル

概要

Fast Obstacle Detection by Variable Step of 3D Laser Scanning for Robot Navigation on Unknown Planet

Garcia-Cruz XM, Sergiyenko OYu, Tyrsa V, Rivas-Lopez M, Hernandez-Balbuena D, Podrygalo M and Gurko A

In the exploration of another planet by mobile robot the slow 3D scanning caused by small step can be a problem. It can be increased by combined scanning step for faster search of n obstacles in unknown surrounding. This is of keynote importance in automatic robot navigation, especially on the surface of another planet. To maintain a reasonable speed robot must to detect dangerous obstacles as soon as possible, and then calculate a safe trajectory in real time. So, the scanning with variable speed and precise digital mapping only for selected spatial sectors is under consideration here. Wide range of simulations in MATLAB of several scenes with variable n obstacles, scanning it with angle value since 0.6˚ up to 15˚ was provided aiming to detect such angular values still permitting to get the most information about obstacles without undesired time loss. Three of such angles were obtained in simulation and then rectified by Levenberg-Marquradt Algorithm application and were applied to micro electro transmission design for practical realization of variable combined step scanning on our previously known laser scanner.