OBSTACLE DETECTION USING RING BEAM SYSTEM
Masahiko Hiraki, Kiyoshi Takamasu, Shigeo Ozono · 2000
Abstract: In this paper, we propose a novel obstacle detection system using Ring Beam System (RBS) for mobile robots. This system consists of RBS with a cone mirror, a spherical mirror and a CCD camera. The principle of this system is same as triangulation. The advantages are having no moving parts and detecting all obstacles around the robot simultaneously. Firstly, we calculate a relationship between the position of bright point on picture from CCD camera and the distance to obstacles. Next, we show developed experimental device and results of obstacle detection.