Scanning Laser Range Finder for Environment Recognition Measuring Reliably While Moving

2D激光测距仪通常用于构建机器人中的距离数据地图。为了构建这样的地图，传感器的位置和位置和姿态时，它正在执行的每一个扫描应该被准确地估计。然而，在传统的距离数据映射系统中，传感器与估计其位置和姿态的模块不同步。因此，如果传感器在扫描时移动，则不能获得传感器的正确位置和姿态。为了解决这一问题，开发了一种基于超小型二维激光测距仪SOKUIKI传感器的时间配准系统。该系统由本研究开发的位置估计模块和发送同步信号的SOKUIKI传感器URG组成。提出了一种位置估计模块与SOKUIKI传感器之间的时间同步方法。利用SOKUIKI传感器的同步信号实现同步。有了这个系统，传感器即使在快速移动的情况下也能准确地扫描环境。该系统可以构建一个精确的范围数据地图，即使传感器本身的位置和姿态不断变化。开发的传感器系统安装在移动的机器人。该系统使一个激光测距仪连接到一个移动的机器人可靠地扫描环境，同时移动本身。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，时间配准问题限制了安装有二维激光测距仪的机器人和机械手的动作。拟议的制度可以消除这一限制。

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.