Remotely Operated and Autonomous Mapping System (ROAMS)

摘要

The development of a relatively low cost mobile 3D mapping robot prototype named ROAMS (Remotely Operated and Autonomous Mappings Systems) which enables rapid generation of high resolution 3D maps of indoor/outdoor environments is presented. The Robotic system generates 3D maps using a video registered Lidar scanning system integrated with a multiple degree of freedom actuator. This vehicle is also used as a test platform for conducting studies and real-time experiments on autonomous operations. Environmental awareness sensors in combination with a long range wireless communications system is used to enable remote operation and monitoring of ROAMS. Techniques for improving the resolution and point distribution of Lidar data through the use of video images and actuator speed control are also investigated and presented.