Design and Realization of 2-Dimensional Optical Range Sensor for Environment Recognition in Mobile Robots

Hirohiko Kawata; Toshihiro Mori; Shin’ichi Yuta

doi:10.20965/jrm.2005.p0116

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JRM Vol.17 No.2 pp. 116-120

doi: 10.20965/jrm.2005.p0116

(2005)

Paper:

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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

Received:

October 18, 2004

Accepted:

January 12, 2005

Published:

April 20, 2005

Keywords:

optical sensor, laser range sensor, phase difference, Sokuiki sensor

Abstract

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.

Cite this article as:

Hirohiko Kawata, Toshihiro Mori, and Shin’ichi Yuta, “Design and Realization of 2-Dimensional Optical Range Sensor for Environment Recognition in Mobile Robots,” J. Robot. Mechatron., Vol.17, No.2, pp. 116-120, 2005.

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References

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[6] Hokuyo Automatic Co., Ltd.,
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[1] [1] W. C. Stone, M. Juberts, N. Dagalakis, J. Stone, and J. Gorman, “Performance Analysis of Next-Generation LADAR for Manufacturing, Construction, and Mobility,” NISTIR 7117.

[2] [2] J. W. Weingarten, G. Gruener, and R. Siegwart, “A State-of-the-Art 3D Sensor for Robot Navigation,” Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Sep. 2004.

[3] [3] K. Nagatani, H. Ishida, S. Yamanaka, and Y. Tanaka, “Three-dimensional Localization and Mapping for Mobile Robot in Disaster Environments,” Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pp. 3112-3117, Oct. 2003.

[4] [4] M. Montemerlo, and S. Thrun, “A multi-resolution pyramid for outdoor robot terrain perception,” In Proceedings of the AAAI National Conference on Artificial Intelligence, San Jose, CA, 2004.

[5] [5] O. Wulf, K. O. Arras, H. I. Christensen, and B. Wagner, “2D Mapping of Cluttered Indoor Environments by Means of 3D Perception,” IEEE/RAS International Conference on Robotics and Automation (ICRA), New Orleans, USA, April 26-May 1, 2004.

[6] [6] Hokuyo Automatic Co., Ltd.,
http://www.hokuyo-aut.jp.

[7] [7] S. Carpin, H. Kenn, and A. Birk, “Autonomous Mapping in the Real Robots Rescue League,” RoboCup 2003: Robot Soccer World Cup VII, LNAI, Springer, 2004.

Design and Realization of 2-Dimensional Optical Range Sensor for Environment Recognition in Mobile Robots

Hirohiko Kawata*, Toshihiro Mori*, and Shin’ichi Yuta**

Hirohiko Kawata^, Toshihiro Mori^, and Shin’ichi Yuta^**