Where am I? Sensors and Methods for Mobile Robot Positioning

102 Part I Sensors for Mobile Robot Positioning
Figure 4.7: The LRF-200 OEM Laser Rangefinder. (Courtesy of Schwartz Electro-Optics,
Inc.)
Another adaptation of the LRF-200 involved the addition of a mechanical single-DOF beam
scanning capability. Originally developed for use in submunition sensor research, the Scanning Laser
Rangefinder is currently installed on board a remotely piloted vehicle. For this application, the
sensor is positioned so the forward motion of the RPV is perpendicular to the vertical scan plane,
since three-dimensional target profiles are required [SEO, 1991b]. In a second application, the
Scanning Laser Rangefinder was used by the Field Robotics Center at Carnegie Mellon University
as a terrain mapping sensor on their unmanned autonomous vehicles.
Table 4.3: Selected specifications for the LRF 200
OEM Laser Rangefinder. (Courtesy of Schwartz
Electro-Optics, Inc.)
Parameter Value Units
Range (non-cooperative
target)
1 to 100
3.3-328
Accuracy ±30
±12
Range jitter ±12
±4.7
m
ft
cm
in
cm
in
Wavelength 902 nm
Diameter 89
3.5
Length 178
7
Weight 1
2.2
Power 8 to 24
5
mm
in
mm
in
kg
lb
VDC
W
Table 4.4: Selected specifications for the SEO
Scanning Laser Rangefinder. (Courtesy of Schwartz
Electro-Optics, Inc.)
Parameter Value Units
Range 1-100
3.3-330
Accuracy ±30
±12
m
ft
cm
in
Scan angle ±30 (
Scan rate
24.5- 30.3 kHz
Samples per scan 175
Wavelength
920 nm
Diameter 127
5
Length 444
17.5
Weight 5.4
11.8
Power
mm
in
mm
in
kg
lb
8-25 VDC