제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of PSD Sensor Based Range Finder System Using Linearizing Function of Voltage-Distance Conversion

  • Kim, Yu-Chan (Department of Control System Engineering, Mokpo National University) ;
  • Ryoo, Young-Jae (Department of Control System Engineering, Mokpo National University) ;
  • Song, Jeong-Gon (Department of Electrical Engineering , Chonnam National University) ;
  • Lee, Ju-Sang (Department of Electrical Engineering , Chonnam National University)
  • Published : 2005.06.02
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Abstract

In this paper, the range finder system using a PSD sensor suitable for low-cost localization sensor of a mobile robot. Because the distance-voltage output of a PSD sensor has a non-linear property, the linearizing function is proposed through the experimental characteristics of the sensor. And the characteristics are tested and the distance-voltage data are measured in various colors and materials of object. For a known environment, a mobile robot scans the surroundings using a PSD sensor that can rotate $360^{\circ}$. Finally, the performance and accuracy of the developed system are verified according to the comparison the distance by proposed function with real distance

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