Survey of Collision Avoidance and Ranging Sensors for Mobile Robots. Revision 1

摘要

The past few years have brought about a tremendous rise in the envisionedpotential of robotic systems and a significant increase in the number of proposed applications. In the nonindustrial arena, numerous programs have evolved, each intending to harness some of this promise in hopes of solving some particular application need. Many of these efforts are government sponsored, aimed at the development of systems for fighting fires, handling ammunition, transporting materials, conducting underwater search and inspection operations, and patrolling warehouses and storage areas, etc. Many of the resulting prototypes, which were initially perceived as logical extensions of the traditional industrial robotic scenarios, have met with unexpected difficulty due to an insufficient supporting technology base. This document provides some basic background on the various noncontact distance measurement techniques available, with related discussion of implementation in the acoustical, optical, and electromagnetic portions of the energy spectrum. An overview of candidate systems, both commercially available and under development, is provided; followed by a brief summary of research currently underway in support of the collision avoidance and noncontact ranging needs of a mobile robot. Robotics, Sensors, Artificial intelligence, Security.