• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.2
• /
• pp.111-116
• /
• 2014

Using only laser range finder to detect the obstacles in an environment that contains transparent obstacles can not guarantee autonomous mobile robot from collision problem. To solve this problem, a mobile robot using laser range finder must be used additional sensor device such as sonar sensor that can detect the transparent obstacle. In this paper, a method is addressed to deal with the problem to detect the transparent obstacles within environment only by using laser range finder for mobile robot. In case the recognized transparent obstacle, the proposed algorithm is to localize the transparent obstacle to extract and process the reflected noise. This algorithm ensures autonomous of mobile robot only using laser range finder. The effectiveness of the proposed algorithm is evaluated by the real mobile robot and real laser range finder experiments with three case studies.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.1214-1219
• /
• 1991

Recently, LASER is used in many industrial, military applications. In this study, digital filtering, correlation, differentiation techniques for CO$_{2}$ LASER Range Finder System are introduced. This LASER Range Finder System can be realized by DSP algorithm suggested in this paper and high speed digital signal processors.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1999.10a
• /
• pp.99-104
• /
• 1999

This paper proposes an efficient method constructing a local map using the data of a scanning laser range finder. A laser range finder yields distance data of polar form, that is, distance data corresponding to every scanning directions. So, the data consists of directional angle and distance. We propose a new method to find a line fitting with a set of such data. The method uses Log-Hough Transformation. Usually, map building from these data requires some transformations between different coordinate systems. The new method alleviates such complication. Also, the method simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform method. To show the efficiency of the proposed method, it is applied to find a local map using the data from a laser range finder PLS(Proximity Laser Scanner, made by SICK).

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.7
• /
• pp.1026-1030
• /
• 2015

In this paper, we propose a signal processing board of an optical delay simulator for evaluating a long-range laser range finder and a laser target designator. We improved the accuracy by applying the clock multiplication and the correction of error gradient. To evaluate the performance of the proposed method, we implemented a prototype board and performed experiments. As a result, we implemented the optical delay simulator with resolution less than 0.7m in measuring distance 60km and a standard deviation of 0.041m. The PRF code detection logic and generation logic have a stability less than 0.03% and 0.08% compared to the NATO standard, respectively.

• 한국IT서비스학회:학술대회논문집
• /
• 2008.11a
• /
• pp.411-414
• /
• 2008

해상사고로 인한 송전선로의 보호를 위해 Scan Laser Range Finder를 사용하여 해상에서의 일정한 높이에서 수평으로 레이저빔을 조사한 후 높이 기준을 넘는 선박을 검지하여 좌표와 속도를 측정하여 경보방송 및 무선 통신으로 회항을 유도하여 송전선을 감시 및 보호하는 기술개발로 산업 현장에서의 적응력을 높이는데 기여할수 있을것으로 보인다.

• Journal of Advanced Marine Engineering and Technology
• /
• v.37 no.7
• /
• pp.737-742
• /
• 2013

Recently, unmanned aircrafts for safe measurement in hazardous locations have been developed. In a method of operation of unmanned aircraft vehicles (UAV), there are two methods of manual control and automatic control. Small UAVs are used for low altitude surveillance flights where unknown obstacles can be encountered. Obstacle avoidance is one of the most challenging tasks which the UAV has to perform with high level of accuracy. In this study, we used a laser range finder as an obstacle detector in automatic navigation of unmanned aircraft to patrol the destination automatically. We proposed a system to avoid obstacles automatically by measuring the angle and distance of the obstacle using the laser range finder.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2011.06a
• /
• pp.433-434
• /
• 2011

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1423-1426
• /
• 2005

Map building is the most important thing for the mobile robots navigation. It requires specific vision system such as CCD camera, range finding system, and many other things. Laser range finder has highly collimated beams can be obtained easily, thus achieving lateral resolution. Laser Diode is used for a continuous laser source. The Automatic Current Control Circuit and the Bias-T is used for mix AC signal with DC bias. This signal is used for driving Laser Diode. The main idea of the calculating distance is detecting phase shift between reference signal and detected signal by photo detector. For the signal processing, the Lock-in amplifier system is addressed in this paper. We used a diffused reflected beam to detect phase shift in this system. But this beam is minuteness signal so it can be easily buried in nose. Lock-in amplifier is used to measure the amplitude and phase of signals which are buried in noise.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.38.4-38
• /
• 2002

We propose a fast map-matching algorithm based on the length and the slope for the sequence of lines extracted from a laser range finder and a map. After finding two feature set from laser data and a map, the position and heading of the mobile robot can be determined exactly.

• Proceedings of the KSRS Conference
• /
• 2005.10a
• /
• pp.470-473
• /
• 2005

This paper proposes a reconstruction method for the shape and color information of 3-dimensional buildings. The proposed method is range scanning by laser range finder and image coordinates' color information mapping to laser coordinate by a fixed CCD camera on laser range finder. And we make a 'Far-View' using high-resolution satellite image. The 'Far-View' is created that the height of building using DEM after contours of building extraction. The user select a region of 'Far View' and then, appear detailed 3D-reconstruction of building The outcomes apply to city plan, 3D-environment game and movie background etc.