模块化激光雷达系统用于多个视野范围的测距
1Faculty of Electrical Engineering, University of Ljubljana, 1000 Ljubljana, Slovenia.
Sensors (Basel, Switzerland)
|January 11, 2024
概括
本研究研究了使用镜子来扩大机器人激光雷达系统的视野 (FOV). 虽然有效,但通过镜子重定向激光雷达束引入了轻微的测量错误,影响了安全应用.
科学领域:
- 机器人和自动化机器人与自动化
- 光学传感技术的技术
背景情况:
- 集中式激光雷达系统提供强大的传感,但视野有限 (FOV).
- 扩展激光雷达FOV对于提高机器人和自主系统的安全应用至关重要.
研究的目的:
- 探索使用固定镜子分发激光雷达FOV的可行性.
- 评估基于镜子的FOV重定向对测量准确性的影响.
主要方法:
- 开发一个定制的模块化激光雷达系统,具有超时值 (TOT) 错误补偿.
- 包括带有发射器,接收器和时间到数字转换器 (TDC) 的模拟前端 (AFE) 板.
- 用直视线对比镜子重定向FOV配置对激光雷达性能进行比较分析.
主要成果:
- 定制的激光雷达系统有效地展示了使用固定镜的FOV分布.
- 通过镜子重定向光路径引入了轻微但可检测的测量误差.
- 错误是在测量范围的特定部分内观察到的.
结论:
- 固定镜子可以分布激光雷达视野,为扩展机器人传感提供潜力.
- 引入的测量误差需要对高精度安全关键应用进行仔细考虑.
- 可能需要进一步的研究来减轻分布式激光雷达系统中镜像诱导的错误.
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