Novel two-dimensional laser scanning technique

MacFarlane, Duncan L.; Kim, W.Y.; Nilvi, J.S.; Nuth, T.; Tan, Vixen Joshua

doi:10.1016/0143-8166(92)90022-y

Cited by 3 publications

(2 citation statements)

References 7 publications

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“…A major part of the proposed approach is identifying gaps of the environment based on 2D LIDAR [ 16 ]. The method of identifying the gap is described in detail below.…”

Section: Methods Descriptionmentioning

confidence: 99%

Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments

Yan

2020

Sensors

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This paper presents a novel approach for navigation in complex and unknown environments. At present, existing local path planners whose control output is the mapping of current sensor data have been widely studied. However, these methods cannot really solve the problem of being trapped by obstacles. We analyzed the reasons and made improvements, and finally our approach can avoid being trapped in complex environments. The proposed method is based on 2D LIDAR. A central part of the approach is finding out gaps in the environment by analyzing sensor data. Then, we choose one of the gaps we find as the sub-goal. Linear and angular velocities are provided by the approach considering nonholonomic mobile robots. The method does not rely on global planners and environment maps. Therefore, it has the advantages of low computational complexity and fast response, which is of great significance to robots with low computing power; it will also help to reduce the manufacturing cost of robots. In addition, simulations and real tests were performed using the Turtlebot2 robotic platform. Successful results are achieved in both simulations and experimental tests.

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“…A major part of the proposed approach is identifying gaps of the environment based on 2D LIDAR [ 16 ]. The method of identifying the gap is described in detail below.…”

Section: Methods Descriptionmentioning

confidence: 99%

Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments

Yan

2020

Sensors

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“…Recent research [2] tells diverse optical methodologies have been implemented in tracking systems, could for example make do into [2,3]. In MacFarlane et al [4] was demonstrated two-dimensional x-y laser scanning, using a computer controlled, and rotating reflective cube. Advance the simple/durable optic scanning method which is able to give still more open angle-of-view than any known techniques, except the omni-directional vision (fish-eye lens) [5].…”

Section: Introductionmentioning

confidence: 99%

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

OYu¹

2013

J Appl Mech Eng

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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. in laser positioning system, designing a micro electromechanical transmission for that job. Journal of Applied Mechanical EngineeringJ ou rnal of A p p li e d Me cha n ic a l E n gi neerin g

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