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2 Skrzypczyński P.

2 2008

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On qualitative uncertainty in range measurements from 2D laser scanners

Skrzypczyński P.

Journal of Automation Mobile Robotics and Intelligent Systems

2008

Vol. 2, No. 2

35-43

This paper describes a research concerning recognition, classification, and correction of qualitative-nature errors in range measurements from 2D laser scanners. Nowadays, such scanners are commonly used on mobile robots for navigation. The main cause of qualitative uncertainty is the mixed measurements. This effect has been investigated experimentally for two different classes of the laser range sensors, and explained by analyzinganalysing the physical phenomena underlying their operation. A local grid map has been proposed as an intermediate data structure, which enables to remove the erroneous range measurements, being either mixed measurements, or being caused by dynamic objects in the vicinity of the robot. A novel fuzzy-set-based algorithm has been employed to update evidence in the grid. The results of tests show, that this algorithm is superior to the common Bayesian approach, when qualitative errors in range measurements are present.

Experimental characterization of the qualitative errors in time-of-flight laser range measurements

Skrzypczyński P.

Elektronika : konstrukcje, technologie, zastosowania

2008

Vol. 49, nr 6

267-269

This article presents results concerning recognition and classification of the qualitative-type range measurement errors in a time-of-flight principie based 2D laser scanner used on mobile robots for navigation. The main source of the qualitative uncertainty are the mixed measurements. This effect has been investigated experimentally and explained by analysing the physical phenomena underlying the sensor operation.

W pracy przedstawiono wyniki badań dotyczących ujawniania, klasyfikacji i oceny błędów o charakterze jakościowym w pomiarach odległości dokonywanych skanerem laserowym 2D stosowanym w nawigacji robotów mobilnych. Na podstawie analizy fizycznych podstaw pomiaru określono przyczyny oraz warunki i zakres występowania tego rodzaju błędów.