Tampere University of Technology

TUTCRIS Research Portal

Low-cost 3D lidar for the mapping of autonomous mobile work machine

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

Details

Original languageEnglish
Title of host publicationProceedings of the Fourteenth Scandinavian International Conference on Fluid Power, SICFP15. May 20-22, 2015. Tampere, Finland
Number of pages10
ISBN (Electronic)978-952-15-3530-7
Publication statusPublished - 2015
Publication typeB3 Non-refereed article in conference proceedings
EventScandinavian International Conference on Fluid Power -
Duration: 1 Jan 1900 → …

Conference

ConferenceScandinavian International Conference on Fluid Power
Period1/01/00 → …

Abstract

Autonomous mobile work machines need the capability of sensing and mapping the surrounding area. Machines can utilize several sensors such as laser scanners and cameras for this purpose. The challenge in their use is the relatively high price compared to the value of mobile work machines, and the sensitivity of sensors to harsh operating conditions. This paper presents a low-cost 3D LIDAR for the sensing and mapping of autonomous work machine, which is based on 2D laser scanner and electric motor drive that rotates the scanner. The 2D laser scanner provides range and intensity values from the measured plane and the controller of electric motor provides the rotation angle and rotation speed of the scanner. By combining these values together with navigation data of the machine, 3D point cloud of the surrounding area can be created. This paper presents the development of hardware and control system for the rotating of the 2D laser scanner. Their integration to autonomous mobile work machine and example of mapping results are also presented.

Keywords

  • Autonomous mobile machine, Mobile robotics, 3D LIDAR, CANopen, Measurement data time synchronization

Publication forum classification