Concept Design of a Scanning Laser Rangefinder for Autonomous Vehicles

Alonzo Kelly
tech. report CMU-RI-TR-94-21, Robotics Institute, Carnegie Mellon University, May, 1994


Download
  • Adobe portable document format (pdf) (431KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This report specifies a scanning laser rangefinder which is specifically designed for high speed autonomous vehicles. This new scanner, called Tornado, represents a departure from conventional sensors in that it looks farther downrange in order to detect obstacles earlier. This made it possible to maintain a wide horizontal field of view, good obstacle resolving power, high throughput and good uniformity of the scan all at the same time. Tornado utilizes a narrow vertical field of view and a programmable vertical scan in order to achieve this.

While this report is not written to evaluate the performance limitations imposed by the current HMMWV configuration, it is clear from the analysis that the ERIM sensor is poorly suited to high speed off road navigation. For this reason, the Tornado scanner must be constructed in order to achieve 20 m.p.h. speeds.

A simple, general kinematic theory is presented which encompasses the kinematics transforms for all existing laser rangefinders. A short study of the design constraints that limit rangefinder performance is presented. The results of this work provide useful relationships for reference purposes.


Notes
Sponsor: ARPA
Grant ID: DACA76-89-C-0014
Number of pages: 48

Text Reference
Alonzo Kelly, "Concept Design of a Scanning Laser Rangefinder for Autonomous Vehicles," tech. report CMU-RI-TR-94-21, Robotics Institute, Carnegie Mellon University, May, 1994

BibTeX Reference
@techreport{Kelly_1994_340,
   author = "Alonzo Kelly",
   title = "Concept Design of a Scanning Laser Rangefinder for Autonomous Vehicles",
   booktitle = "",
   institution = "Robotics Institute",
   month = "May",
   year = "1994",
   number= "CMU-RI-TR-94-21",
   address= "Pittsburgh, PA",
}