alexa Fast Obstacle Detection by Variable Step of 3D Laser Scanning for Robot Navigation on Unknown Planet | OMICS International | Abstract
ISSN: 2168-9873

Journal of Applied Mechanical Engineering
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Research Article

Fast Obstacle Detection by Variable Step of 3D Laser Scanning for Robot Navigation on Unknown Planet

Garcia-Cruz XM1,2, Sergiyenko OYu1*, Tyrsa V2, Rivas-Lopez M1, Hernandez-Balbuena D1, Podrygalo M3, and Gurko A3
1LOAM, UABC, Mexicali, Baja California, México
2ITMexicali, Mexicali, Baja California, México
3KNAHU, Kharkov, Ukraine
Corresponding Author : Sergiyenko OYu
LOAM, UABC, Mexicali, Baja California, México
Tel: 52-686-566-4150
E-mail: [email protected]
Received April 20, 2013; Accepted August 27, 2013; Published August 29, 2013
Citation: Garcia-Cruz XM, Sergiyenko OY, Tyrsa V, Rivas-Lopez M, Hernandez- Balbuena D, et al. (2013) Fast Obstacle Detection by Variable Step of 3D Laser Scanning for Robot Navigation on Unknown Planet. J Appl Mech Eng 2:124. doi: 10.4172/2168-9873.1000124
Copyright: © 2013 Garcia-Cruz XM, et al. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

Abstract

In the exploration of another planet by mobile robot the slow 3D scanning caused by small step can be a problem. It can be increased by combined scanning step for faster search of n obstacles in unknown surrounding. This is of keynote importance in automatic robot navigation, especially on the surface of another planet. To maintain a reasonable speed robot must to detect dangerous obstacles as soon as possible, and then calculate a safe trajectory in real time. So, the scanning with variable speed and precise digital mapping only for selected spatial sectors is under consideration here. Wide range of simulations in MATLAB of several scenes with variable n obstacles, scanning it with angle value since 0.6Ëš up to 15Ëš was provided aiming to detect such angular values still permitting to get the most information about obstacles without undesired time loss. Three of such angles were obtained in simulation and then rectified by Levenberg-Marquradt Algorithm application and were applied to micro electro transmission design for practical realization of variable combined step scanning on our previously known laser scanner.

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