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.

2D激光范围发现器通常用于构建机器人技术中的范围数据图。为了构建此类地图，应准确估算传感器的位置和位置和姿势。但是，在常规范围数据映射系统中，传感器与估计其位置和姿势的模块没有同步。因此，如果传感器在ID扫描时移动，则无法获取传感器的正确位置和姿势。这会导致地图构造中的许多错误。一个系统通过使用Sokuiki传感器来解决此时间的注册问题，Sokuiki传感器是一个超小尺寸的2D激光范围查找器。该系统由本研究中开发的位置估计模块和发送同步信号的Sokuiki传感器urg组成的系统。这项研究提出了一种位置估计模块和索科基传感器之间时间同步的方法。通过使用来自Sokuiki传感器的同步信号来实现同步。使用此系统，传感器即使环境快速移动也可以准确扫描环境。即使传感器本身会连续更改其位置和姿势，该系统也可以构建一个区域的准确范围数据图。开发的传感器系统安装在移动机器人上。该系统使移动机器人连接到移动机器人上的激光范围查找器在移动时可靠地扫描环境。通过实验验证了系统的有效性和实用性。系统的准确性主要基于传感器位置和姿势的准确性。定时注册问题限制了在地图构造中安装2D激光范围的机器人和操纵器的作用。提出的系统可以消除此限制。

项目成果

Mobile Robot Localization and Mapping by Scan Matching using Laser Reflection Intensity of the SOKUIKI Sensor

• DOI: 10.1109/iecon.2006.347701
• 发表时间: 2006-01-01
• 期刊: P IECON 2006 32 ANN
• 作者: Yoshitaka, H.;Hirohiko, K.;Shin'Ichi, Y.
• 通讯作者: Shin'Ichi, Y.

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