Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

alibration of Infra-red Range Finder PBS-03JN Using Piecewise Linear Function Based on 2-D Grid Error

2차원 격자 오차 데이터 기반의 선형 보정 함수들을 이용한 적외선 레인지 파인더 PBS-03JN의 보정

  • Received : 2011.03.11
  • Accepted : 2011.06.27
  • Published : 2011.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

An efficient calibration algorithm for mobile robot localization using infrared range finder is proposed. A calibration is important to guarantee the performance of other algorithms which use sensor data because it is pre-process. We experimentally found that the infrared range finder PBS-03JN has error characteristics depending on both distance and scan angle. After obtaining 2-D grid error characteristic data on distance and scan angle, we proposed a simple and efficient calibration algorithm with a 2-D piecewise linear function set. The performance of our proposed calibration algorithm is verified by experiments and simulation.

Keywords

References

  1. B. K. Kim and Y. G. Song, "Development of a DGPS-based localization and semi-autonomous path following system for electric scooters," Journal of Control, Robotics and Systems (in Korean), vol. 17, no. 7, pp. 674-684, July 2011. https://doi.org/10.5302/J.ICROS.2011.17.7.674
  2. B. K. Kim, Y. H. Kim, and Y. G. Song, "Development of Precise Localization System for Autonomous Mobile Robots using Mobile Ultrasonic Transmitters and Receivers in Indoor Environments," Journal of Control, Robotics and Systems (in Korean), vol. 17, no. 4, pp. 353-361, Apr. 2011. https://doi.org/10.5302/J.ICROS.2011.17.4.353
  3. J. Borenstein, H. R. Everett, L. Feng, and D. Wehe, "Mobile robot positioning sensors and techniques," Journal of Intelligent Robotics Systems, vol. 14, pp. 231-249, 1997. https://doi.org/10.1002/(SICI)1097-4563(199704)14:4<231::AID-ROB2>3.0.CO;2-R
  4. M. Hebert and E. Krotkov, "3D measurements from imaging laser radars: how good are they?," Journal of Image and Vision Computing, vol. 10, no. 3, pp. 170-178, 1992. https://doi.org/10.1016/0262-8856(92)90068-E
  5. H. J. Sohn and B. K. Kim, "Robust localization algorithm for mobile robots using laser range finder," Journal of Control, Automation, and Systems Engineering (in Korean), vol. 11, no. 6, pp. 530-542, June 2005. https://doi.org/10.5302/J.ICROS.2005.11.6.530
  6. A. Diosi and L. Kleeman, "Uncertainty of line segments extracted from static SICK PLS laser scans," Australiasian Conference on Robotics and Automation, 2003.
  7. K. K. Tan and S. Huang, "Geometrical error compensation of machines with significant random errors," Transaction of Instrumentation, Systems, and Automation, pp. 43-53, 2005.
  8. X. Li and W. GWee, "Sensor error modeling and compensation for range images captured by a 3D ranging system," Journal of Measurement Science and Technology, vol. 19, no. 12, 2008.
  9. H. H. Kim, Y. S. Ha, and G. G. Jin, "A study on the environmental map building for a mobile robot using infrared range-finder sensors," Proc. of Intelligent Robots and Systems (IROS), vol. 1 , pp. 711-716, 2003.
  10. G. A. Borges and M. J. Aldon, "Line extraction in 2D range images for mobile robotics," Journal of Intelligent Robotics Systems, vol. 40, no. 3, pp. 267-297, 2004. https://doi.org/10.1023/B:JINT.0000038945.55712.65
  11. J. B. Kim and B. K. Kim, "The calibration for error of sensing using SLSFRS (Smooth Least Square Fit with Regional Split)," Korea Automatic Control Conference, pp. 735-739, 2009.
  12. Y. Cang and J. Borenstein, "Characterization of a 2D laser scanner for mobile robot obstacle negotiation," Proc. of Robotics and Automation (ICRA), vol. 3, pp. 2512-2518, 2002.
  13. A. Reina and J. Gonzales, "Characterization of a radial laser scanner for mobile robot navigation," Intelligent Robots and Systems (IROS), vol. 2, pp. 579-585, 1997.
  14. M. Alwan, M. B. Wagner, G. S. Wasson, and P. Sheth, "Characterization of infrared range-finder PBS-03JN for 2-D mapping," Proc. of Robotics and Automation (ICRA), pp. 3936- 3941, 2005.
  15. K. H. Lee and R. Ehsani, "Comparison of two 2D laser scanners for sensing object distances, shapes, and surface patterns," Journal of Computers and Electronics in Agriculture, vol. 60, no.2, pp. 250-262, 2008. https://doi.org/10.1016/j.compag.2007.08.007
  16. L. Kneip, F. Tache, G. Caprari, and R. Siegwart, "Characterization of the compact Hokuyo URG-04LX 2D laser range scanner," Proc. of Robotics and Automation (ICRA), pp. 1447-1454, 2009.
  17. Yoichi Okubo, Cang Ye and J. Borenstein, "Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation," Proceedings of SPIE, Unmanned Systems Technology XI, vol. 7332, no. 1, pp. 733212, 2009.
  18. C. S. Park, D. I. Kim, B. J. You, and S. R. Oh, "Characterization of the Hokuyo UBG-04LX-F01 2D laser rangefinder," IEEE International Symposium on Robot and Human Interactive Communication, pp. 385-390, Italy 2010. https://doi.org/10.1109/ROMAN.2010.5598672
  19. N. Muhammad and S. Lacroix, "Calibration of a rotating multibeam lidar," Proc. of Intelligent Robots and Systems (IROS), pp. 5648-5653, 2010.
  20. Measuring Distance Type Obstacle Detection Sensor PBS-03JN Instruction Manual
  21. Wikipedia, http://en.wikipedia.org/wiki/Inverse-square_law
  22. H. Kawata, A. Ohya, S. Yuta, W. Santosh, and T. Mori, "Development of ultra-small lightweight optical range sensor system," Proc. of Intelligent Robots and Systems (IROS), pp. 1078-1083, 2005.
  23. LMS200 Technical Description
  24. Bosch corp. DLE50 Specification
  25. Newport corp. Precision Rotation Stage Description