Optical 3D laser measurement system for navigation of autonomous mobile robot
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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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 Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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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 -