Accession Number:

ADA162846

Title:

A Laser Triangulation Ranging System for Mobile Robots

Descriptive Note:

Technical rept.

Corporate Author:

RENSSELAER POLYTECHNIC INST TROY NY SCHOOL OF ENGINEERING

Personal Author(s):

Report Date:

1983-05-01

Pagination or Media Count:

57.0

Abstract:

A laser triangulation system for short range obstacle avoidance for mobile robots is discussed. The system was designed as an improvement over an earlier laser triangulation system. The new system was designed for use with an Adaptive Suspension Vehicle and the Mars Roving Vehicle however, the new system is not limited to these two applications. A system overview is given, and then each component is discussed in detail. This report has discussed new scanning techniques and shown the feasibility of these in a new MultilaserMultidetector system MLMD laser triangulation system. A holographic scanner is used for rapid azimuth scanning, a galvanometric scanner is used for elevation scanning, special optics and optical fibers are used with individual detectors, a high power laser diode is used as the laser source, and a microprocessor and programmable timing module are used to control the system operation. Each element in the system is an improvement over existing scanning elements. And when a prototype is constructed, the author is fairly confident that the improvement over the existing MLMD system will be tremendous. The new system should demonstrate high scan rates, high efficiencies, greater scan ranges, faster data collection, and greater flexibility.

Subject Categories:

  • Lasers and Masers

Distribution Statement:

APPROVED FOR PUBLIC RELEASE