Scanning Laser Range Finder for Environment Recognition Measuring Reliably While Moving

用于环境识别的扫描激光测距仪在移动时进行可靠测量

• 批准号: 18500147
• 负责人: OHYA Akihisa
• 金额: $ 2.63万
• 依托单位: University of Tsukuba
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2006
• 资助国家: 日本
• 起止时间: 2006 至 2007
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18500147/
• 关键词: Intelligent Robotics; Mobile Robots; Environment Recognition; Laser range Finder; 光走査型距離センサ

2D laser range finders are commonly used for constructing range data maps in robotics. In order to construct such maps, sensor's position and position and posture when it is performing each scan should be estimated accurately. However, in conventional range data mapping system the sensor is not synchronized with the modules which estimate its position and posture. Therefore correct position and posture of the sensor cannot be acquired if the sensor moves while it id scanning. This causes many errors in map construction.A system which solves this time registration problem by using a SOKUIKI sensor which is a super small sized 2D laser range finder was developed. The system composed of a position estimation module which is developed in this research and SOKUIKI sensor URG which sends synchronous signal. A method for the time synchronization between a position estimation module and a SOKUIKI sensor was proposed in this research. The synchronization is realized by using synchronous signal from the SOKUIKI sensor. With this system, the sensor accurately scans the environment even if it moves fast. This system can construct an accurate range data map of an area even if the sensor itself changes its position and posture continuously.The developed sensor system was mounted on the mobile robot. The system enabled a laser range finder attached to a mobile robot to scan environment reliably while moving itself. The effectiveness and usefulness of the system was verified through the experiments. The accuracy of the system is mainly based on accuracy of the position and posture of the sensor. The timing registration problem restricts the action of robots and manipulators on which 2D laser range finder are mounted in map construction. The proposed system could remove this restriction.

二维激光测距仪通常用于构建机器人的距离数据地图。为了构建这样的地图，应该准确地估计传感器在执行每一次扫描时的位置和位置和姿态。然而，在传统的距离数据测绘系统中，传感器与估计其位置和姿态的模块不同步。因此，如果传感器在其id扫描时移动，则不能获得传感器的正确位置和姿态。该系统利用超小型二维激光测距仪的SOKUIKI传感器解决了时间配准问题。该系统由位置估计模块和SOKUIKI传感器URG组成。提出了一种位置估计模块与SOKUIKI传感器时间同步的方法。利用SOKUIKI传感器的同步信号实现了同步。有了这个系统，传感器即使移动得很快，也能准确地扫描环境。该系统能够在传感器自身不断改变位置和姿态的情况下，构建出准确的区域距离数据地图。该系统使安装在移动机器人上的激光测距仪能够在移动时可靠地扫描环境。通过实验验证了该系统的有效性和实用性。系统的精度主要取决于传感器的位置和姿态的精度。在地图构建中，定时配准问题限制了安装有2D激光测距仪的机器人和机械手的行动。拟议的制度可以取消这一限制。

项目成果

Mobile SOKUIKI Sensor System : Accurate Range Data Mapping System with Sensor Motion

• 发表时间: 2006
• 期刊: Journal of the Chemical Society, Faraday Transactions
• 作者: Tatsuro Ueda;H. Kawata;T. Tomizawa;A. Ohya

Moblile SOKUIKI Sensor System-Accurate Range Data Mapping System with Sensor Motion

移动SOKUIKI传感器系统-带传感器运动的精确范围数据映射系统

• 发表时间: 2006
• 期刊: Proceedings of the Third International Conference on Autonomous Robots and Agents
• 作者: Tatsuro Ueda;Hirohiko Kawata;Tetsuo Tomizawa;Akihisa Ohya and Shin'ichi Yuta
• 通讯作者: Akihisa Ohya and Shin'ichi Yuta

Times Synchronization between SOKUIKI Sensor and Host Computer using Timestamps

使用时间戳在 SOKUIKI 传感器和主机之间进行时间同步

• 发表时间: 2007
• 作者: Alexander CARBALLO;Yoshitaka HARA;Hirohiko KAWATA;Tomoaki YOSHIDA;Akihisa OHYA and Shin'ichi YUTA
• 通讯作者: Akihisa OHYA and Shin'ichi YUTA

Time Synchronization between SOKUIKI Sensor and Host Computer using Timestamps

使用时间戳在 SOKUIKI 传感器和主机之间进行时间同步

• 发表时间: 2007
• 作者: Alexander CARBALLO;Yoshitaka HARA;Hirohiko KAWATA;Tomoaki YOSHIDA;Akihisa OHYA and Shin'ichi YUTA;Alexander CARBALLO
• 通讯作者: Alexander CARBALLO