Spot-based LIDAR profile estimation algorithm for mobile robots in motion

Abstract

Light Detection and Ranging (LIDAR) is a popular sensing device for outdoor mobile robot navigation. LIDAR can measure the r-theta coordinates of distance at approximately centimeter order accuracy. However, to measure an environmental distance profile using LIDAR, we must consider the effects of both the translational and rotational speed of the mobile robot, especially at relatively high speeds. For simplicity, most implementations for mobile robots are based on a conventional scan-based LIDAR profile estimation algorithm, which neglects the effect of the robot motion. In this paper, we describe a spot-based LIDAR profile estimation algorithm that considers the effects of the robot's movement. The basic idea of the proposed spot-based LIDAR profile estimation algorithm is formulated and described by applying three different rotational scanning LIDAR methods. Based on the formulation and simulations, we confirm the validity of the proposed algorithm.