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首页> 外文期刊>Journal of robotic systems >Performance of Laser and Radar Ranging Devices in Adverse Environmental Conditions
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Performance of Laser and Radar Ranging Devices in Adverse Environmental Conditions

机译：不利环境条件下激光和雷达测距设备的性能

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摘要

A comparative evaluation of millimeter-wave radar and two-dimensional scanning lasers in dust and rain conditions for sensor applications in field robotics is presented. A robust and reliable method for measuring the level of suspended dust (or other obscurant media) by determining the transmission coefficient is developed and used for quantitative assessment of sensor performance. The criteria of target acquisition reliability, precision, and accuracy under varying environmental conditions are assessed via sensor operation in a controlled environment. This environment generated dust and rain of varying densities. Sensor performance is also assessed for the potential effect on digital terrain mapping and haul truck localization due to sensor-specific behaviors in these conditions (e.g., false targets, increased noise). Trials on a research electric face shovel are conducted to test observed behaviors. It is concluded that laser scanners are suitable for environments with transmissions exceeding 92%-93%/m for targets closer than 25 m. The radar remained relatively unaffected by the generated conditions of rain (50-70 mm/h) and dust (10-m visibility); however, its accuracy (0.1 m with a corner reflector and 0.3 m on a haul truck), free-space clutter, and scan rate were insufficient for locating unmodified haul trucks forrnthis application.
机译：提出了在灰尘和雨水条件下毫米波雷达和二维扫描激光器在现场机器人中传感器应用的比较评估。开发了一种通过确定透射系数来测量悬浮粉尘（或其他遮盖剂介质）水平的可靠可靠方法，并将其用于传感器性能的定量评估。通过在受控环境中的传感器操作来评估在各种环境条件下目标采集的可靠性，精度和准确性的标准。这种环境产生了密度不同的灰尘和雨水。还评估了传感器性能，以评估在这些情况下由于传感器特定的行为（例如，错误的目标，增加的噪声）而对数字地形图和货车定位造成的潜在影响。进行了研究用电铲的试验，以测试观察到的行为。结论是，激光扫描仪适用于透射率超过92％-93％/ m且目标小于25 m的环境。雷达相对不受降雨（50-70 mm / h）和灰尘（可见度10-m）产生条件的影响；但是，它的精度（带角反射器的精度为0.1 m，而牵引车的精度为0.3 m），自由空间杂波和扫描速率不足以定位用于此应用的未经改装的牵引车。

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  • 来源
    《Journal of robotic systems》 |2009年第9期|712-727|共16页
  • 作者

    Julian Ryde; Nick Hillier;

  • 作者单位

    Autonomous Systems Laboratory CSIRO ICT Centre Brisbane, Queensland, Australia;

    Autonomous Systems Laboratory CSIRO ICT Centre Brisbane, Queensland, Australia;

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