Dynamic Laser Scanning method for Mobile Robot Navigation

Abstract

A low cost and non-contact system to obtain tridimentional data about a surface of an obstacle, using a new way of laser triangulation (where both emitter and sensor are rotating) principle is offered. The system uses a revolving laser emitter and a revolving optical scanner working together, which by means of a mathematical processing on a computer, is able to obtain spatial data from laser projected spots. Detailed analysis of priciple, functioning, interaction of mechanical elements and electronic signals is presented in this paper. The mathematical processes for distance and angular measurement are exposed. Results of experiments are shown. Keywords : mobile robot, obstacle, distance measurement, triangulation, laser scanning.