Cyclone: A Laser Scanner For Mobile Robot Navigation
Sanjiv Singh, Jay B. West · Defense Technical Information Center (DTIC) · 1991
Researchers at Carnegie Mellon's Field Robotics Center have designed and implemented a scanning laser rangefinder. The device uses a commercially available time-of-flight ranging instrument that is capable of making up to 7200 measurements per second. The laser beam is reflected by a rotating mirror, producing up to a 360 degree view. Mounted on a robot vehicle, the scanner can be used to detect obstacles in the vehicle's path or to locate the robot on a map. This report discusses the motivation, design, and some applications of the scanner.