An active omni-directional range sensor for mobile robot navigation

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dc.contributor.authorJoung, ISko
dc.contributor.authorCho, Hyungsuckko
dc.date.accessioned2013-02-27T18:30:45Z-
dc.date.available2013-02-27T18:30:45Z-
dc.date.created2012-02-06-
dc.date.created2012-02-06-
dc.date.issued1998-03-
dc.identifier.citationCONTROL ENGINEERING PRACTICE, v.6, no.3, pp.385 - 393-
dc.identifier.issn0967-0661-
dc.identifier.urihttp://hdl.handle.net/10203/70116-
dc.description.abstractMost autonomous mobile robots view things only in front of them, and as a result, they may collide with objects moving from the side or from behind. To overcome this problem, an Active Omni-directional Range Sensor System has been built, that can obtain an omni-directional depth map through the use of a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed; this creates a two-dimensional depth map, in real time, once an image has been captured. Object-recognition is made possible by using a three-dimensional depth map acquired from a combination of previously obtained two-dimensional depth maps. The experimental results show that the proposed sensor system is very efficient, and can be utilized For object-recognition and navigation of a mobile robot in an unknown environment. (C) 1998 Elsevier Science Ltd. All rights reserved.-
dc.languageEnglish-
dc.publisherPERGAMON-ELSEVIER SCIENCE LTD-
dc.subjectVISION-
dc.subjectCOPIS-
dc.titleAn active omni-directional range sensor for mobile robot navigation-
dc.typeArticle-
dc.identifier.wosid000074701400007-
dc.type.rimsART-
dc.citation.volume6-
dc.citation.issue3-
dc.citation.beginningpage385-
dc.citation.endingpage393-
dc.citation.publicationnameCONTROL ENGINEERING PRACTICE-
dc.identifier.doi10.1016/S0967-0661(97)10059-4-
dc.contributor.localauthorCho, Hyungsuck-
dc.contributor.nonIdAuthorJoung, IS-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorconic mirrors-
dc.subject.keywordAuthorlaser conic plane-
dc.subject.keywordAuthoractive omni-directional range sensors-
dc.subject.keywordAuthordepth maps-
dc.subject.keywordAuthormobile robots-
dc.subject.keywordPlusVISION-
dc.subject.keywordPlusCOPIS-
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