Details
| Original language | English |
|---|---|
| Pages (from-to) | 419-424 |
| Journal | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Volume | 39 |
| Issue number | 15 |
| Publication status | Published - 2006 |
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.
Keywords
- Bresenham's algorithm, Ladar, Laser range scanner
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 39, No. 15, 2006, p. 419-424.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - Simulating a laser range scanner under application conditions
AU - Blume, Holger
AU - Heimann, Bodo
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Bresenham's algorithm
KW - Ladar
KW - Laser range scanner
UR - http://www.scopus.com/inward/record.url?scp=80051581766&partnerID=8YFLogxK
U2 - 10.3182/20060906-3-it-2910.00071
DO - 10.3182/20060906-3-it-2910.00071
M3 - Conference article
AN - SCOPUS:80051581766
VL - 39
SP - 419
EP - 424
JO - IFAC Proceedings Volumes (IFAC-PapersOnline)
JF - IFAC Proceedings Volumes (IFAC-PapersOnline)
SN - 1474-6670
IS - 15
ER -