Detailed Evaluation of a Laser Triangulation Ranging System for Mobile Robots

摘要

This report is the culmination of several theoretical and design papers on a low resolution, short range vision system to be used for planetary exploration. Included is a theoretical discussion of the Scanning Laser/Multi-Detector laser triangulation system. Discussed in depth is the actual test performance of the Scanning Laser/Multi-Detector System. All tests presented were performed in controlled, static, laboratory conditions. To add to the credibility of the tests, the materials used were of the same reflective properties as dirt. The actual tests performed included: single step tests, single slope tests, multiple step tests, and range tests. All of these tests were performed to show the capabilities of the vision system and its ability to detect the presence of terrains hazardous to the safety of the vehicle. The results showed both the vision system's strengths and weaknesses. Of special interest was that many of the limitations uncovered were software based. The test results are included.