Modelling and Simulation of a Laser Scanner with Adjustable Pattern as Virtual Prototype for Future Space Missions

摘要

Today, Digital Prototyping and simulation technologies are used in the development of new technical systems and widely applied in research and industry. They allow cost- and time-efficient tests in all stages of development and support decision making. The sensor simulation component represents an important aspect in many simulation scenarios, especially in robotic applications. This paper focuses on the modelling and simulation of a laser scanner with adjustable pattern and is motivated by the development of a space qualified 3d laser scanner system for autonomous orbital rendezvous and docking. It continues work on a single ray based 2d laser scanner simulation for localization and mapping of mobile robots on planetary surfaces.