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

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Standard

Optical 3D laser measurement system for navigation of autonomous mobile robot. / Básaca-Preciado, Luis C.; Sergiyenko, Oleg Yu.; Rodríguez-Quinonez, Julio C. et al.
in: Optics and Lasers in Engineering, Jahrgang 54, 03.2014, S. 159-169.

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Harvard

Básaca-Preciado, LC, Sergiyenko, OY, Rodríguez-Quinonez, JC, García, X, Tyrsa, VV, Rivas-Lopez, M, Hernández-Balbuena, D, Mercorelli, P, Podrygalo, MA, Gurko, A, Tabakova, I & Starostenko, O 2014, 'Optical 3D laser measurement system for navigation of autonomous mobile robot', Optics and Lasers in Engineering, Jg. 54, S. 159-169. https://doi.org/10.1016/j.optlaseng.2013.08.005

APA

Básaca-Preciado, L. C., Sergiyenko, O. Y., Rodríguez-Quinonez, J. C., García, X., Tyrsa, V. V., Rivas-Lopez, M., Hernández-Balbuena, D., Mercorelli, P., Podrygalo, M. A., Gurko, A., Tabakova, I., & Starostenko, O. (2014). Optical 3D laser measurement system for navigation of autonomous mobile robot. Optics and Lasers in Engineering, 54, 159-169. https://doi.org/10.1016/j.optlaseng.2013.08.005

Vancouver

Básaca-Preciado LC, Sergiyenko OY, Rodríguez-Quinonez JC, García X, Tyrsa VV, Rivas-Lopez M et al. Optical 3D laser measurement system for navigation of autonomous mobile robot. Optics and Lasers in Engineering. 2014 Mär;54:159-169. doi: 10.1016/j.optlaseng.2013.08.005

Bibtex

@article{933e37a55cb74bd2a58ce089ac962216,
title = "Optical 3D laser measurement system for navigation of autonomous mobile robot",
abstract = "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.",
keywords = "Engineering, 3D laser scanner, autonomous navigation, mobile robot, trajectory planning, vision system, Mathematics",
author = "B{\'a}saca-Preciado, {Luis C.} and Sergiyenko, {Oleg Yu.} and Rodr{\'i}guez-Quinonez, {Julio C.} and Xochitl Garc{\'i}a and Tyrsa, {Vera V.} and Moises Rivas-Lopez and Daniel Hern{\'a}ndez-Balbuena and P. Mercorelli and Podrygalo, {Mikhail A.} and Alexander Gurko and Irina Tabakova and Oleg Starostenko",
year = "2014",
month = mar,
doi = "10.1016/j.optlaseng.2013.08.005",
language = "English",
volume = "54",
pages = "159--169",
journal = "Optics and Lasers in Engineering",
issn = "0143-8166",
publisher = "Elsevier Science B.V.",

}

RIS

TY - JOUR

T1 - Optical 3D laser measurement system for navigation of autonomous mobile robot

AU - Básaca-Preciado, Luis C.

AU - Sergiyenko, Oleg Yu.

AU - Rodríguez-Quinonez, Julio C.

AU - García, Xochitl

AU - Tyrsa, Vera V.

AU - Rivas-Lopez, Moises

AU - Hernández-Balbuena, Daniel

AU - Mercorelli, P.

AU - Podrygalo, Mikhail A.

AU - Gurko, Alexander

AU - Tabakova, Irina

AU - Starostenko, Oleg

PY - 2014/3

Y1 - 2014/3

N2 - 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.

AB - 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.

KW - Engineering

KW - 3D laser scanner

KW - autonomous navigation

KW - mobile robot

KW - trajectory planning

KW - vision system

KW - Mathematics

UR - http://www.scopus.com/inward/record.url?scp=84889082025&partnerID=8YFLogxK

U2 - 10.1016/j.optlaseng.2013.08.005

DO - 10.1016/j.optlaseng.2013.08.005

M3 - Journal articles

VL - 54

SP - 159

EP - 169

JO - Optics and Lasers in Engineering

JF - Optics and Lasers in Engineering

SN - 0143-8166

ER -

DOI