According to our engineering research on satellite-borne laser retroreflector array, some suggestions are proposed on how to manufacture a new Apollo LLRA that can make us measure one illuminating point and unillumina...According to our engineering research on satellite-borne laser retroreflector array, some suggestions are proposed on how to manufacture a new Apollo LLRA that can make us measure one illuminating point and unilluminating area on the moon's surface. These suggestions are: to control the dihedral angle offset within ± 0.1″; to use the larger aperture of the transparent face of cube corner prisms; to investigate how to separate out Apollo's reflected laser from mixed beam hitting on the LLR system.展开更多
In this article the problem of three-dimensional （3-D） reconstruction of scenes from terrestrial laser rangefinder data is processed, we present the simulations results of radiometric range function of the laser ran...In this article the problem of three-dimensional （3-D） reconstruction of scenes from terrestrial laser rangefinder data is processed, we present the simulations results of radiometric range function of the laser range finder imaging system for better optimization of maximum range detection with a given SNR （Signal-to-noise ratio）. The study proposes a new reformulation of the radiometric Gaussian beam range equation on the basis of the photodetector active area. The adjustment of the optical and geometrical characteristics of the laser range finder so defined can be used to minimize the signal span to avoid the saturation of the detector cell and improve the ranging measurements （accuracy and range） for a 3D imaging application.展开更多
In order to obtain a compact and exact representation of 2D range scans,UKF(unscented Kalman filter) and CDKF(central difference Kalman filter) were proposed for extracting the breakpoint of the laser data. Line extra...In order to obtain a compact and exact representation of 2D range scans,UKF(unscented Kalman filter) and CDKF(central difference Kalman filter) were proposed for extracting the breakpoint of the laser data. Line extraction was performed in every continuous breakpoint region by detecting the optimal angle and the optimal distance in polar coordinates,and every breakpoint area was constructed with two points. As a proof to the method,an experiment was performed by a mobile robot equipped with one SICK laser rangefinder,and the results of UKF/CDKF in breakpoint detection and line extraction were compared with those of the EKF(extended Kalman filter) . The results show that the exact geometry of the raw laser data of the environments can be obtained by segmented raw measurements(combining the proposed breakpoint detection approach with the line extraction method) ,and method UKF is the best one compared with CDKF and EKF.展开更多
Two types of the dual mode-locked fiber lasers for asynchronous absolute distance measurement are investigated, The lasers are linear and ring cavity with repetition rate of 70 MHz and 100 MHz, respectively. The group...Two types of the dual mode-locked fiber lasers for asynchronous absolute distance measurement are investigated, The lasers are linear and ring cavity with repetition rate of 70 MHz and 100 MHz, respectively. The group velocity dispersion is not compensated in the first type of the lasers, while the others are fully done. The timing jitter with the Allan deviation below averaging time of 0.2 s during the distance measurement for around 1 m of both types of lasers were 2.5 ps with 600 nm and 1.6 ps with 200 nm. We concluded that the phase noise resulted from the intra-cavity dispersion is the main contribution for the uncertainty of the ranging in these two types of the lasers.展开更多
This paper describes a reactive navigation proposed for a differentially driven robot. The aim of the reactive navigation is to prescribe behavior to the robot based on actual sensor values that is collision-free. Ana...This paper describes a reactive navigation proposed for a differentially driven robot. The aim of the reactive navigation is to prescribe behavior to the robot based on actual sensor values that is collision-free. Analysis of reactive navigation methods shows that there is no reliable reactive collision-free method. However, method VFH＋ is suboptimal reactive navigation method for static environment. Original method was proposed for ultrasonic rangefinders. Nowadays, much more sophisticated sensors are available. That is why our modification is proposed for a laser rangefinder attached to indoor mobile robot. Results are presented as simulation in Matlab and also as experiments with real robot. Based on these experiments, it can be claimed that VFH＋ is very effective reactive navigation method for various sensors and environments and it can be modified for different requirements on robot behavior.展开更多
文摘According to our engineering research on satellite-borne laser retroreflector array, some suggestions are proposed on how to manufacture a new Apollo LLRA that can make us measure one illuminating point and unilluminating area on the moon's surface. These suggestions are: to control the dihedral angle offset within ± 0.1″; to use the larger aperture of the transparent face of cube corner prisms; to investigate how to separate out Apollo's reflected laser from mixed beam hitting on the LLR system.
文摘In this article the problem of three-dimensional （3-D） reconstruction of scenes from terrestrial laser rangefinder data is processed, we present the simulations results of radiometric range function of the laser range finder imaging system for better optimization of maximum range detection with a given SNR （Signal-to-noise ratio）. The study proposes a new reformulation of the radiometric Gaussian beam range equation on the basis of the photodetector active area. The adjustment of the optical and geometrical characteristics of the laser range finder so defined can be used to minimize the signal span to avoid the saturation of the detector cell and improve the ranging measurements （accuracy and range） for a 3D imaging application.
基金Project(2003AA1Z2130)supported by the National High-Tech Research and Development Program of ChinaProject(2005C11001-02)supported by the Science and Technology Project of Zhejiang Province,China
文摘In order to obtain a compact and exact representation of 2D range scans,UKF(unscented Kalman filter) and CDKF(central difference Kalman filter) were proposed for extracting the breakpoint of the laser data. Line extraction was performed in every continuous breakpoint region by detecting the optimal angle and the optimal distance in polar coordinates,and every breakpoint area was constructed with two points. As a proof to the method,an experiment was performed by a mobile robot equipped with one SICK laser rangefinder,and the results of UKF/CDKF in breakpoint detection and line extraction were compared with those of the EKF(extended Kalman filter) . The results show that the exact geometry of the raw laser data of the environments can be obtained by segmented raw measurements(combining the proposed breakpoint detection approach with the line extraction method) ,and method UKF is the best one compared with CDKF and EKF.
文摘Two types of the dual mode-locked fiber lasers for asynchronous absolute distance measurement are investigated, The lasers are linear and ring cavity with repetition rate of 70 MHz and 100 MHz, respectively. The group velocity dispersion is not compensated in the first type of the lasers, while the others are fully done. The timing jitter with the Allan deviation below averaging time of 0.2 s during the distance measurement for around 1 m of both types of lasers were 2.5 ps with 600 nm and 1.6 ps with 200 nm. We concluded that the phase noise resulted from the intra-cavity dispersion is the main contribution for the uncertainty of the ranging in these two types of the lasers.
文摘This paper describes a reactive navigation proposed for a differentially driven robot. The aim of the reactive navigation is to prescribe behavior to the robot based on actual sensor values that is collision-free. Analysis of reactive navigation methods shows that there is no reliable reactive collision-free method. However, method VFH＋ is suboptimal reactive navigation method for static environment. Original method was proposed for ultrasonic rangefinders. Nowadays, much more sophisticated sensors are available. That is why our modification is proposed for a laser rangefinder attached to indoor mobile robot. Results are presented as simulation in Matlab and also as experiments with real robot. Based on these experiments, it can be claimed that VFH＋ is very effective reactive navigation method for various sensors and environments and it can be modified for different requirements on robot behavior.
