3-D range sensor using fiber grating for recognition of autonomous mobile robot's passage space

Akihisa Ohya, Eri Shoji, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A 3-D range sensor system for an autonomous mobile robot is reported. It is important for a mobile robot to recognize spaces of passage. In this sensor system, the passage space is detected with an active vision sensor using a Fiber Grating, laser diode, and CCD camera. The Fiber Grating vision sensor can easily obtain 3-D information about the object. In our system, the object is the floor and the system measures the height of the floor. In this case the height is nearly equal to zero, so the robot can perceive that the measured area is passagable. An image processing module using a Transputer(T805) is developed for this purpose. In this paper, the principle of the sensor and the method for passage space recognition are presented. The hardware and software of the system for our autonomous mobile robot 'Yamabico' is presented. Experimental results are also presented.

Original languageEnglish
Title of host publicationIEEE/RSJ/GI International Conference on Intelligent Robots and Systems
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages1759-1763
Number of pages5
Volume3
Publication statusPublished - 1994
Externally publishedYes
EventProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
Duration: 1994 Sep 121994 Sep 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ohya, A., Shoji, E., & Yuta, S. (1994). 3-D range sensor using fiber grating for recognition of autonomous mobile robot's passage space. In IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (Vol. 3, pp. 1759-1763). Piscataway, NJ, United States: IEEE.