Title :
Characterization of a 2D laser scanner for mobile robot obstacle negotiation
Author :
Ye, Cang ; Borenstein, Johann
Abstract :
This paper presents a characterization study of the Sick LMS 200 laser scanner. A number of parameters, such as operation time, data transfer rate, target surface properties, as well as the incidence angle, which may potentially affect the sensing performance, are investigated. A probabilistic range measurement model is built based on the experimental results. The paper also analyzes the mixed pixels problem of the scanner
Keywords :
collision avoidance; laser ranging; mobile robots; navigation; 2D laser scanner; 3D map building; Sick LMS 200; data transfer rate; incidence angle; mobile robot; obstacle avoidance; range measurement model; target surface; Image sensors; Laser modes; Laser noise; Laser radar; Laser theory; Lasers and electrooptics; Least squares approximation; Millimeter wave radar; Mobile robots; Stereo vision;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013609
