A Novel Low-Cost Adaptive Scanner Concept for Mobile Robots

摘要

A fundamental problem in mobile robot applications is the need for accurate knowledge of the position of a vehicle for localizing itself and for avoiding obstacles in its path. In the search for a solution to this problem, researchers and engineers have developed different sensors, systems and techniques. Modern mobile robots relay information obtained from a variety of sensors and sophisticated data fusion algorithms. In this paper, a novel concept for a low-cost adaptive scanner based on a projected light pattern is proposed. The main advantage of the proposed system is its adaptivity, which enables the rapid scanning of the robot's surroundings in search of obstacles and a more detailed scan of a single object to retrieve its surface configuration and perform some limited analyses. This paper addresses the concept behind such a scanner, where a proof-of-concept is achieved using an office DLP projector. During the measurements, the accuracy of the proposed system was tested on obstacles and objects with known configurations. The obtained results are presented and analyzed, and conclusions about the system's performance and possible improvements are discussed.