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In this paper, an optical scanner which can be used to investigate a three-dimensional space, has been presented. Some mainapplications of that device, have been described. The diagram scheme of the scanner as well as a principle of operation anddesign of particular functional parts are shown. Major tasks of the software which is built in a controller and cooperates withthe scanner, are presented. The methods how create a geometrical model of environment to be useful for navigation of mobilerobot, have been discussed. Some results of experiments are given.Keywords: scanner, linear distance measurements, mobile robot, world modeling. 1. INTRODUCTION An optical scanner is a device which makes it possible to be precise measurements of a distance in three-dimensionalspace.One major application of the scanner is to investigate environment surrounding an autonomous mobile robot (AMR) withintention to supply data about a distance the existing obstacles are detected 2 Great possibilities to form acquisition datastrategy (e.g., 2D fast scanning or 3D scanning of a selected space sector) allow to use the scanner in numerous fields ofinvestigations, especially in such studies which concern robotics, e.g., a measurement of the tenninal position of a stationaryindustrial robot manipulator. Furthermore, the optical scanner may be used in industry, e.g., for positioning transport devices,or in control-alarm systems. In stationary industrial environment it is purposeful to use artificial markers (i.e., reflectors) inorder to increase a range and to simplify an analysis of realized measurements. The optical scanner presented herein has beenworked out and designed as a project supported by the KBN 8S5050 1705 Grant. |
