Development of a 3D LADAR system for autonomous navigation

Author

Ng, Teck Chew ; Guzman, Javier Ibanez ; Tan, Jin Chang

Author_Institution

Singapore Inst. of Manuf. Technol., Singapore

Volume

2

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

792

Abstract

A novel approach for the development of a 3D laser radar (LADAR) system for vehicle guidance is presented. A rotating mirror assembly is used to deflect the beam scan of a 2D laser to obtain the 3^rd dimension. The mirror assembly is constructed by joining six mirrors to form a hexagon-shaped reflector. By rotating this mirror assembly in front of the 2D laser, 3D range images of the scene in front of LADAR are obtained. The data is processed to detect obstacles; the purpose-built user interface shows a top and front view of the 2D obstacle map, plus the 3D modeling of the environment. The system has been tested in both indoor and outdoor environments and the results are presented. The deployment of this perception system, on a mobile platform, has been implemented to guide an autonomous mobile platform.

Keywords

laser ranging; mobile robots; navigation; optical radar; 3D LADAR system; 3D laser radar system; autonomous mobile platform; autonomous navigation; hexagon-shaped reflector; mirror assembly; rotating mirror assembly; vehicle guidance; Assembly; Laser beams; Laser modes; Laser radar; Layout; Mirrors; Navigation; Remotely operated vehicles; System testing; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1438019

Filename

1438019