Study of 3D Environment Recognition Sensor with Micro Scanning Mechanism

提出了一种用于三维环境识别的新型扫描式激光测距传感器。该传感器采用微机电系统技术，具有体积小、重量轻、功耗低等优点。研制了一种由压电陶瓷驱动的微型二维光学传感器。利用我们研制的传感器，我们可以成功地绘制自然地形图。通过实验验证了微扫描激光测距传感器新机构的有效性。利用所研制的传感器进行了行星探测车的路径规划和导航研究。我们提出了一个扩展的海拔地图，其中包括漫游车的大小的影响。提出了一种基于可通过性概率的路径规划方案。然后研究了基于模糊推理的行星探测车快速导航算法。计算机仿真和实验结果验证了所提方法的有效性。

We proposed a new type of scanning laser range sensor for recognizing three dimensional environment. The proposed sensor has advantages of small size, light weigh, and low power consumption with the help of micro electrical mechanical system technology. We developed a miniature two dimensional optical sensor which is driven by a piezoelectric actuator. We could succeed in making maps of natural terrains by using our developed sensor. By experiments, we comfirmed the validity of the new mechanism of a micro scanning laser range sensor. We could obrtain very good experimental results on sensing accuracy.We also studied path planning and navigation for planetary rover by using the developed sensor. We proposed an extended elevation map, which included the effect of the size of the rover. We also proposed a path planning scheme based on traversability probability. And then we studied the fast navigation algorithm for planetary rover based on fuzzy resoning. The validity of the proposed methods was verified by computer simulation and experomental results.