Design and implementation of LiDAR navigation system based on triangulation measurement

摘要

Lidar, an important navigation instrument, is applied on various service robots and is receiving increasing attention. To solve the problem that present lidar systems are large, expensive, complecated to use and have low accuracy. This paper introduces a lidar navigation system with an upper computer application facing service robots. This lidar system is based on triangulation measurement which can get accurate distance results with our algorithm and the upper computer application can draw a 2D image. This system emits laser with a 5nw visible laser transmitter and receives the laser with a Dlis 2k photosensitive sensor, so that the system can calculate the distance to the measured object. With our mechanical design, our lidar system can realize 360° measurement. It also has an accaptable accuracy and cost.