Design and Realization of 2-Dimensional Optical Range Sensor for Environment Recognition in Mobile Robots
Hirohiko Kawata*, Toshihiro Mori*, and Shin’ichi Yuta**
*Hokuyo Automatic Co., Ltd., 1-10-9 Niitaka, Yodogawa-ku, Osaka 532-0033, Japan
**School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennoudai, Tsukuba, Ibaraki 305-8577, Japan
We developed a 2-D laser range sensor suitable for different mobile robot platform sizes. The sensor features compactness, lightweight, high precision and low power consumption and has wide scan angle with high resolution essential for environment recognition in mobile robots. The principle applied to calculate the distance between the sensor and the object involves, applying amplitude modulation to the wave of light and detecting the phase difference between transmitted and received light. In this paper we explain the sensor specifications, the principle of distance measurement and experimental results.
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