Optical 3D laser measurement system for navigation of autonomous mobile robot

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Authors

  • Luis C. Básaca-Preciado
  • Oleg Yu. Sergiyenko
  • Julio C. Rodríguez-Quinonez
  • Xochitl García
  • Vera V. Tyrsa
  • Moises Rivas-Lopez
  • Daniel Hernández-Balbuena
  • P. Mercorelli
  • Mikhail A. Podrygalo
  • Alexander Gurko
  • Irina Tabakova
  • Oleg Starostenko
In our current research, we are developing a practical autonomous mobile robot navigation system which is capable of performing obstacle avoiding task on an unknown environment. Therefore, in this paper, we propose a robot navigation system which works using a high accuracy localization scheme by dynamic triangulation. Our two main ideas are (1) integration of two principal systems, 3D laser scanning technical vision system (TVS) and mobile robot (MR) navigation system. (2) Novel MR navigation scheme, which allows benefiting from all advantages of precise triangulation localization of the obstacles, mostly over known camera oriented vision systems. For practical use, mobile robots are required to continue their tasks with safety and high accuracy on temporary occlusion condition. Presented in this work, prototype II of TVS is significantly improved over prototype I of our previous publications in the aspects of laser rays alignment, parasitic torque decrease and friction reduction of moving parts. The kinematic model of the MR used in this work is designed considering the optimal data acquisition from the TVS with the main goal of obtaining in real time, the necessary values for the kinematic model of the MR immediately during the calculation of obstacles based on the TVS data.
OriginalspracheEnglisch
ZeitschriftOptics and Lasers in Engineering
Jahrgang54
Seiten (von - bis)159-169
Anzahl der Seiten11
ISSN0143-8166
DOIs
PublikationsstatusErschienen - 03.2014

DOI

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  1. Julia Preisigke

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