Rangefinder tests for the D mission rendezvous - Project Apollo
Range finder tests for D mission rendezvous
Saulietis, I.↗
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Fast, accurate rangefinder
Computer-controlled optical ranging system detects objects as close as 1m and as distant as 30m. Originally developed for robot planetary-surface exploration, system is applicable to vehicular obstacle avoidance, surveying, remote manipulator operation, and other applications.
Johnston, A. R.↗
Terrain evaluation and route designation based on noisy rangefinder data
This paper discusses an approach to terrain evaluation and route designation for an autonomous Mars rover. The evaluation procedure simulates movement of the rover over a terrain model estimated from noisy range readings. During the simulated movement a potential path is analyzed for adverse gradients and minimum vehicle body clearance which could inhibit the rover's progress. The route designation scheme employs dynamic programming to select the optimal path based on the evaluation results.
Netch, A.↗
Self-Modulated Laser Rangefinder
Longitudinal resonance modes exploited. Self-modulated-laser ranging system exploits presence of signals differing in frequency by longitudinalmode separation frequency fm. Two square-law photodetectors have outputs modulated by fm, and phase difference between two outputs is related to target distance. Laser transmitter/receiver measures distances as well as displacements of distant objects (such as vibrating buildings).
Abshire, J. B.↗
Electronically Scanned Laser Rangefinder
Proposed electronic laser scanner sweeps across its field of view without any moving parts, measuring distances to objects between 0.5 and 20 meters away. Immune to wear, stress, and breakage to which mechanical scanners subject. Guides robotic vehicle around obstacles.
Shimada, Katsunori↗
Measurement scanning schemes for terrain modeling
A scanning scheme for the laser rangefinder aboard an autonomous Mars Rover is developed. The rover is expected to be able to traverse an incline of slope up to 25% deg positive or negative. The total azimuth angle of the rangefinder is calculated so that the rangefinder can scan a width of 3 m at a distance of 3 m. A combination of two approaches is considered: scanning the field with a data point spacing appropriate for the terrain modeling technique, followed by zoom scanning with reduced spacing aimed at an obstacle location indicated in a previous terrain scan. It is found that the scan time and total number of data points can be reduced by dividing the field into corridors. The scan is divided into two subscans: the initial scan covering the entire field, and a corridor scan. The corridor scan method reduces the core required in the on-board computer. Hardware changes are expected to be small since the parameters of the corridor are fixed and a continuously variable point spacing is not necessary.
Friedman, M.↗
Alignment of optical system components using an ADM beam through a null assembly
A system for testing an optical surface includes a rangefinder configured to emit a light beam and a null assembly located between the rangefinder and the optical surface. The null assembly is configured to receive and to reflect the emitted light beam toward the optical surface. The light beam reflected from the null assembly is further reflected back from the optical surface toward the null assembly as a return light beam. The rangefinder is configured to measure a distance to the optical surface using the return light beam.
Hayden, Joseph E.↗
Laser range measurement for a satellite navigation scheme and mid-range path selection and obstacle avoidance
The functions of a laser rangefinder on board an autonomous Martian roving vehicle are discussed. The functions are: (1) navigation by means of a passive satellite and (2) mid-range path selection and obstacle avoidance. The feasibility of using a laser to make the necessary range measurements is explored and a preliminary design is presented. The two uses of the rangefinder dictate widely different operating parameters making it impossible to use the same system for both functions.
Zuraski, G. D.↗
Precision laser range finder system design for Advanced Technology Laboratory applications
Preliminary system design of a pulsed precision ruby laser rangefinder system is presented which has a potential range resolution of 0.4 cm when atmospheric effects are negligible. The system being proposed for flight testing on the advanced technology laboratory (ATL) consists of a modelocked ruby laser transmitter, course and vernier rangefinder receivers, optical beacon retroreflector tracking system, and a network of ATL tracking retroreflectors. Performance calculations indicate that spacecraft to ground ranging accuracies of 1 to 2 cm are possible.
Golden, K. E.↗
Data acquisition and path selection decision making for an autonomous roving vehicle
Problems related to the guidance of an autonomous rover for unmanned planetary exploration were investigated. Topics included in these studies were: simulation on an interactive graphics computer system of the Rapid Estimation Technique for detection of discrete obstacles; incorporation of a simultaneous Bayesian estimate of states and inputs in the Rapid Estimation Scheme; development of methods for estimating actual laser rangefinder errors and their application to date provided by Jet Propulsion Laboratory; and modification of a path selection system simulation computer code for evaluation of a hazard detection system based on laser rangefinder data.
Frederick, D. K.↗
Simulation of obstacle detection scheme for Mars terrain using minicomputer
Simulation for detection of obstacles on Martian terrain by a laser rangefinder mounted on an autonomous roving vehicle is achieved by a rapid estimation scheme on a computer with IDIIOM display. Near and far edges of pyramids and hemispherical craters or boulders can be recognized if the obstacles are more than about 15 m from the laser rangefinder and the noise standard deviation is less than about 10 cm. If these conditions are not met the rapid estimation scheme can still detect the top edge of a boulder and the near edge of a crater. The scheme is considered equivalent or better than an earlier (Reed, Sanyal, and Shen, 1974) four-directional Laplacian method, but requires slightly more computation.
Leung, K. L.↗
The 1.06 optical receiver
High performance 1.06 micron m avalanche photodetectors (APDs), fabricated in the GaAlSb system, have high quantum efficiency (90 percent), high speed (risetime less than 60 ps) and low leakage currents (less than 50 na). The dark current represents more than an order of magnitude reduction compared to previously reported results. The high speed avalanche gain of these devices is between 20 and 50. The area uniformity is better than + or - 10 percent. GaAlAs APDs at 0.53 micron m have even faster speed, lower dark currents, and high speed gains of 100 to 200. Optical rangefinders based on measured APD performance parameters have far superior performance when compared to even ideal photomultiplier tubes in either a one color or two color rangefinder system. For a one color system, f factor of two lower time jitter can be achieved with identical transmitted power. The superiority of the APD based two color receiver is significant and exists in the entire range of desired time jitters (less than 100 ps) and received power levels.
Tomasetta, L. R.↗
Obstacle detection for the Mars Rover by a two dimensional rapid estimation scheme
This paper discusses an obstacle detection system applicable to a Mars Rover mission forseen possible in the early 1980's. The sensing device on the rover will be a laser rangefinder which scans the surface ahead of the vehicle. Terrain range data information is stored in matrix form. The range varies from point to point along the surface with sharp changes due to the presence of obstacles. The noise contaminated laser rangefinder readings are processed by an algorithm involving a modified version of the Kalman Filter, along with a decision scheme, to obtain complete outlines of discrete obstacles.
Alland, S.↗
Data acquisition and path selection decision making for an autonomous roving vehicle
The feasibility of using range/pointing angle data such as might be obtained by a laser rangefinder for the purpose of terrain evaluation in the 10-40 meter range on which to base the guidance of an autonomous rover was investigated. The decision procedure of the rapid estimation scheme for the detection of discrete obstacles has been modified to reinforce the detection ability. With the introduction of the logarithmic scanning scheme and obstacle identification scheme, previously developed algorithms are combined to demonstrate the overall performance of the intergrated route designation system using laser rangefinder. In an attempt to cover a greater range, 30 m to 100 mm, the problem estimating gradients in the presence of positioning angle noise at middle range is investigated.
Shen, C. N.↗
Ultrasonic Ranging System With Increased Resolution
Master-oscillator frequency increased. Ultrasonic range-measuring system with 0.1-in. resolution provides continuous digital display of four distance readings, each updated four times per second. Four rangefinder modules in system are modified versions of rangefinder used for automatic focusing in commercial series of cameras. Ultrasonic pulses emitted by system innocuous to both people and equipment. Provides economical solutions to such distance-measurement problems as posed by boats approaching docks, truck backing toward loading platform, runway-clearance readout for tail of airplane with high angle attack, or burglar alarm.
Meyer, William E.↗
Determining Spatial Coordinates By Laser Ranging
Three range-measuring lasers arranged in triangle measure location of point. Set of three measurements of distances (ranges) of retroreflector on object from three rangefinders provides sufficient information to calculate coordinates of retroreflector in coordinate system defined by rangefinders. If at least three noncollinear retroreflectors attached to object, orientation of object also determined. Potential applications include observation and control of large structures, robotics, and machine vision.
Schumacher, Larry L.↗
The MITy micro-rover: Sensing, control, and operation
The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.
Malafeew, Eric↗
A Compact and Low Power Two-Axis Scanning Laser Rangerfinder for Mobile Robots
In this paper we present a prototype two-axis scanning laser rangefinder, or LIDAR, intended for use on small mobile robots.
laser rangefinder LIDAR power mobile robots↗