Range Measurement using Optical Method for Mobile Robots
ABSTRACT
In application of Mobile robotics, environmental interaction is very important. Actuation of Mobile Robotics by various techniques depending on its immediate surroundings for reliable extraction of information is also of great importance. Review of various sensing methods in robotics is described. Various sensing techniques like coaxial sensor and normal sensors arranged in coaxial manner gives certain advantages.
Optical sensors where control light source in terms of signal where amplitude, power and frequency are major constraints. Dependency on the applicability to mobile robotics.
This paper reviews a light detection and ranging system for range measurement in mobile robotics. In any LIDAR system, physics of reflection of light from various surfaces and sources is highlighted. Ability of measuring of range by the sensor is depending upon the specular and or defused reflection of light, which has a great importance in measurement.
The various parameters like type of reflection, dynamic range of the received signal strength, cross talks and power are having relations with the measurement techniques and highlighted in various popular LIDAR measurement techniques.
Review of another i.e., sound navigation and ranging (SONAR) is presented for Mobile Robot. Its processing algorithms for correct interpretation of ultrasonic data recorded in indoor environment is demonstrated. Model of reflection mechanism provided by the ultrasonic sensors is going to be highlighted. Ultrasonic wave reflection is generally dominated by specular reflections. Various techniques in SONAR for range estimation and correct target classification is highlighted.
Actuation of Mobile Robot by sensors range estimation through various techniques is highlighted for the review here.
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