Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications

Gokhan Bayar [1] , Tugay Kadir Olguner [2]


In this paper, a 2D laser rangefinder based 3D scanning system is proposed. The system developed is constructed using a laser scanner which has capability to scan its 2400 surrounding in 0.350 resolution. The third dimension is built by designing a rotating head on which a 2D laser scanner is mounted. A DC actuator is used to rotate the rotating head. It is equipped with a high resolution quadrature encoder and a gearhead. The rotational velocity of the rotating system is determined according to the working frequency of the laser scanner. A mathematical model is developed to be able to deal with the point cloud composed of the data coming from laser scanner and encoder. The whole system is implemented in Matlab Simulink environment. The algorithm developed to create 3D shape of the objects and working environment is created to be used in real-time operations. The system proposed, experimental setup developed and the experimental results are presented in this paper in details.
3D scanning, laser scanner, range finder, mobile robot, detection
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Subjects Engineering
Journal Section Research Article
Authors

Author: Gokhan Bayar
Institution: BÜLENT ECEVİT ÜNİVERSİTESİ
Country: Turkey


Author: Tugay Kadir Olguner
Institution: BÜLENT ECEVİT ÜNİVERSİTESİ
Country: Turkey


Dates

Publication Date : December 1, 2016

Bibtex @research article { ijamec271032, journal = {International Journal of Applied Mathematics Electronics and Computers}, issn = {}, eissn = {2147-8228}, address = {}, publisher = {Selcuk University}, year = {2016}, volume = {}, pages = {382 - 385}, doi = {10.18100/ijamec.271032}, title = {Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications}, key = {cite}, author = {Bayar, Gokhan and Olguner, Tugay Kadir} }
APA Bayar, G , Olguner, T . (2016). Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications. International Journal of Applied Mathematics Electronics and Computers , (Special Issue-1) , 382-385 . DOI: 10.18100/ijamec.271032
MLA Bayar, G , Olguner, T . "Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications". International Journal of Applied Mathematics Electronics and Computers (2016 ): 382-385 <https://dergipark.org.tr/en/pub/ijamec/issue/25619/271032>
Chicago Bayar, G , Olguner, T . "Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications". International Journal of Applied Mathematics Electronics and Computers (2016 ): 382-385
RIS TY - JOUR T1 - Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications AU - Gokhan Bayar , Tugay Kadir Olguner Y1 - 2016 PY - 2016 N1 - doi: 10.18100/ijamec.271032 DO - 10.18100/ijamec.271032 T2 - International Journal of Applied Mathematics Electronics and Computers JF - Journal JO - JOR SP - 382 EP - 385 VL - IS - Special Issue-1 SN - -2147-8228 M3 - doi: 10.18100/ijamec.271032 UR - https://doi.org/10.18100/ijamec.271032 Y2 - 2016 ER -
EndNote %0 International Journal of Applied Mathematics Electronics and Computers Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications %A Gokhan Bayar , Tugay Kadir Olguner %T Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications %D 2016 %J International Journal of Applied Mathematics Electronics and Computers %P -2147-8228 %V %N Special Issue-1 %R doi: 10.18100/ijamec.271032 %U 10.18100/ijamec.271032
ISNAD Bayar, Gokhan , Olguner, Tugay Kadir . "Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications". International Journal of Applied Mathematics Electronics and Computers / Special Issue-1 (December 2016): 382-385 . https://doi.org/10.18100/ijamec.271032
AMA Bayar G , Olguner T . Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications. International Journal of Applied Mathematics Electronics and Computers. 2016; (Special Issue-1): 382-385.
Vancouver Bayar G , Olguner T . Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications. International Journal of Applied Mathematics Electronics and Computers. 2016; (Special Issue-1): 385-382.