Novel application of a laser range finder with vision system for wheeled mobile robot

This paper presents a trajectory planning strategy of a wheeled mobile robot in an obstructed environment. In order to sense its surrounding environment, the mobile robot is assumed to be equipped with a laser range finder. The potential field method is utilized to create force fields around obstacles and a goal. Look-ahead control is adopted to steer the mobile robot in which a reference point located in front of the robot is dynamically changed such that the mobile robot is able to successfully maneuver among the obstacles and reach the goal. In addition, we attempt to overcome some drawbacks of the laser range finder, namely inability of gathering information except at the measuring height. The scanning laser is partially blocked by means of a small reflection mirror which is placed in front of the mobile robot so that the reflected ray scans the nearby ground surface. Moreover, the rotary reflection mirror can interchangeably be mounted or dismounted by means of a link mechanism for easy switching.