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Proceedings Paper

Integration and demonstration of MEMS-scanned LADAR for robotic navigation
Author(s): Barry L. Stann; John F. Dammann; Mark Del Giorno; Charles DiBerardino; Mark M. Giza; Michael A. Powers; Nenad Uzunovic
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Paper Abstract

LADAR is among the pre-eminent sensor modalities for autonomous vehicle navigation. Size, weight, power and cost constraints impose significant practical limitations on perception systems intended for small ground robots. In recent years, the Army Research Laboratory (ARL) developed a LADAR architecture based on a MEMS mirror scanner that fundamentally improves the trade-offs between these limitations and sensor capability. We describe how the characteristics of a highly developed prototype correspond to and satisfy the requirements of autonomous navigation and the experimental scenarios of the ARL Robotics Collaborative Technology Alliance (RCTA) program. In particular, the long maximum and short minimum range capability of the ARL MEMS LADAR makes it remarkably suitable for a wide variety of scenarios from building mapping to the manipulation of objects at close range, including dexterous manipulation with robotic arms. A prototype system was applied to a small (approximately 50 kg) unmanned robotic vehicle as the primary mobility perception sensor. We present the results of a field test where the perception information supplied by the LADAR system successfully accomplished the experimental objectives of an Integrated Research Assessment (IRA).

Paper Details

Date Published: 3 June 2014
PDF: 10 pages
Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840J (3 June 2014); doi: 10.1117/12.2050687
Show Author Affiliations
Barry L. Stann, U.S. Army Research Lab. (United States)
John F. Dammann, U.S. Army Research Lab. (United States)
Mark Del Giorno, Del Services LLC (United States)
Charles DiBerardino, General Dynamics Robotic Systems (United States)
Mark M. Giza, U.S. Army Research Lab. (United States)
Michael A. Powers, General Dynamics Robotic Systems (United States)
Nenad Uzunovic, Robotic Research LLC (United States)

Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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