OBSTACLE DETECTION USING RING BEAM SYSTEM

M. Hiraki, K. Takamasu, S. Ozono

Abstract

In this paper, we propose a novel obstacle detection system using Ring Beam System (RBS) for mobile robots. This system consists of RBS with a cone mirror, a spherical mirror and a CCD camera. The principle of this system is same as triangulation. The advantages are having no moving parts and detecting all obstacles around the robot simultaneously. Firstly, we calculate a relationship between the position of bright point on picture from CCD camera and the distance to obstacles. Next, we show developed experimental device and results of obstacle detection.

Keywords

obstacle detection, triangulation, mobile robots

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IMEKO-WC-2000-TC17-P447.pdf

DOI

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IMEKO TC

TC17 - Measurement in Robotics

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