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Proceedings Paper

3D terrain measurement sensor system for rough terrain mobile robot
Author(s): Sho Yokota; Yoshihiro Miyata; Kuniaki Kawabata; Hisato Kobayashi
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Paper Abstract

This paper proposes a sensor system for mobile robot for rough terrain. Our sensor system consists of 2 active joints and 1 distance measuring sensor. This distance measuring sensor is general purpose type distance measuring sensors which consist of PSD (Position Sensitive Detector) and infrared emitting diode and signal processing circuit. The main superior points are as follows: 1) this system is compact and light weight for enough attaching to small mobile robot, 2) It is very simple structure; which enables to do easy maintenance, 3) Since the sensor is attached to the robot, the sensor system should make full use of robot's degree of freedom (DOF), namely that's an active sensing. This paper explains the system structure of the proposed sensor system, and basic experimental result to confirm performance of this system.

Paper Details

Date Published: 6 December 2005
PDF: 7 pages
Proc. SPIE 6049, Optomechatronic Sensors and Instrumentation, 60490J (6 December 2005); doi: 10.1117/12.648841
Show Author Affiliations
Sho Yokota, Hosei Univ. (Japan)
Yoshihiro Miyata, Hosei Univ. (Japan)
Kuniaki Kawabata, The Institute of Physical and Chemical Research (RIKEN) (Japan)
Hisato Kobayashi, Hosei Univ. (Japan)


Published in SPIE Proceedings Vol. 6049:
Optomechatronic Sensors and Instrumentation
Yasuhiro Takaya, Editor(s)

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