Development of a low-cost active 3D triangulation laser scanner for indoor navigation of miniature mobile robots

Authors:
Guoqiang Fu;Arianna Menciassi;Paolo Dario
Affiliations:
The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy and Center for Intelligent and Biomimetic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, ...;The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy;The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy
Venue:
Robotics and Autonomous Systems
Year:
2012

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Abstract

For miniaturized mobile robots that aim at exploring unknown environments, no-contact 3D sensing of basic geometrical features of the surrounding environment is one of the most important capabilities for survival and the mission. In this paper, a low-cost active 3D triangulation laser scanner for indoor navigation of miniature mobile robots is presented. It is implemented by moving both a camera and a laser diode together on the robot's movable part. The movable part is actuated by a servo motor through a gear train to achieve +/-90^o scanning view angle. The software module includes image processing and data post-processing. 3D world coordinates are calculated from 2D image coordinates based on the triangulation principle. With a 3D laser scanning method, navigation algorithms for obstacle avoidance and gateway passing are proposed. Finally, experiments are conducted to validate performance of the scanner and to test the efficiency of the navigation algorithms.