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

摘要

In the exploration of another planet by mobile robot the slow 3D scanning caused by small step can be aproblem. 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 areasonable speed robot must to detect dangerous obstacles as soon as possible, and then calculate a safe trajectoryin real time. So, the scanning with variable speed and precise digital mapping only for selected spatial sectors is underconsideration here. Wide range of simulations in MATLAB of several scenes with variable n obstacles, scanning itwith angle value since 0.6? up to 15? was provided aiming to detect such angular values still permitting to get themost information about obstacles without undesired time loss. Three of such angles were obtained in simulation andthen rectifed by Levenberg-Marquradt Algorithm application and were applied to micro electro transmission designfor practical realization of variable combined step scanning on our previously known laser scanner.