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首页> 外文期刊>International journal of design engineering >Design and implementation of a 3D scanning platform for mobile robotic applications
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Design and implementation of a 3D scanning platform for mobile robotic applications

机译：用于移动机器人应用程序的3D扫描平台的设计和实现

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摘要

In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. In this paper, we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scanning platform based on a 2D laser rangefinder was designed in a compact way with a maximum field of view for fast and accurate mapping. The designed mechanism provides 360° degree horizontal by 240° degree vertical field of view. The maximum resolution is 0.36° degrees in elevation and variable in azimuth. The proposed low cost compact design is tested by scanning a physical environment with known dimensions to show that it can be used as a precise and reliable high quality 3D sensor for autonomous mobile robots.
机译：在高效的自主导航和探索中，机器人应尽可能准确地实时感知环境，并根据获取的3D数据正确采取行动。在本文中，我们介绍了一种扫描平台的设计和实现，该平台可用于室外和室内移动机器人的导航和制图。基于2D激光测距仪的3D扫描平台以紧凑的方式设计，具有最大的视野，可进行快速准确的映射。设计的机构可提供360度水平视角和240度垂直视角。最大分辨率为仰角0.36°，并且方位角可变。通过扫描具有已知尺寸的物理环境，对提出的低成本紧凑型设计进行了测试，以表明它可以用作自主移动机器人的精确，可靠的高质量3D传感器。

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