Simulating a laser range scanner under application conditions

verfasst von

Holger Blume, Bodo Heimann

Abstract

This paper describes the simulation of a laser range scanner for wheeled mobile robot applications. The use of the simulator is intended for method development regarding navigation within dynamic environments and obstacle avoidance. The artificial environment is set up from a grid based probability map. The simulation unit is addressed through the same interface as the real sensor, and has real time capabilities. The focus of the paper lies in the description of computational efficient algorithms for emulating the range measurement in the grid based probability map and the consideration of artificial objects. It is shown, that the simulation is calculated using very little computational effort.

Organisationseinheit(en)

Institut für Mechatronische Systeme
Mechatronik-Zentrum Hannover

Typ

Konferenzaufsatz in Fachzeitschrift

Journal

IFAC Proceedings Volumes (IFAC-PapersOnline)

Band

39

Seiten

419-424

ISSN

1474-6670

Publikationsdatum

2006

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik

Elektronische Version(en)

https://doi.org/10.3182/20060906-3-it-2910.00071 (Zugang: Geschlossen)