Design and implementation of a 3D range scanner for mobile robots

In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scanning platform based on a 2D laser rangefinder was designed in compact way for fast and accurate mapping with maximum field of view. The range finder is rotated around the vertical axis to extract the 3D indoor information. However, the scanner is designed to be placed in any direction on a mobile robot. The designed mechanism provides 360 degrees degree horizontal by 240 degrees degree vertical field of view. The maximum resolution is 0.36 degrees degrees in elevation and variable in azimuth (0.1 degrees if scanning platform is set to complete a 360 degrees degree rotation in 3.6 seconds). The proposed low cost compact design is tested by scanning a physical environment with known dimensions to show that it can be used as a precise and reliable high quality 3D sensor for autonomous mobile robots.
Key Engineering Materials


Design and fpga implementation of an efficient deinterleaving algorithm
Olgun, Muhammet Ertuğ; Akar, Gözde; Department of Electrical and Electronics Engineering (2008)
In this work, a new deinterleaving algorithm that can be used as a part of an ESM system and its implementation by using an FPGA is studied. The function of the implemented algorithm is interpreting the complex electromagnetic military field in order to detect and determine different RADARs and their types by using incoming RADAR pulses and their PDWs. It is assumed that RADAR signals in the space are received clearly and PDW of each pulse is generated as an input to the implemented algorithm system. Cluste...
Neural network based beamforming for linear and cylindrical array applications
Güreken, Murat; Dural Ünver, Mevlüde Gülbin; Department of Electrical and Electronics Engineering (2009)
In this thesis, a Neural Network (NN) based beamforming algorithm is proposed for real time target tracking problem. The algorithm is performed for two applications, linear and cylindrical arrays. The linear array application is implemented with equispaced omnidirectional sources. The influence of the number of antenna elements and the angular seperation between the incoming signals on the performance of the beamformer in the linear array beamformer is studied, and it is observed that the algorithm improves...
Computation of radar cross sections of complex targets by physical optics with modified surface normals
Durgun, Ahmet Cemal; Kuzuoğlu, Mustafa; Department of Electrical and Electronics Engineering (2008)
In this study, a computer code is developed in MATLAB® to compute the Radar Cross Section (RCS) of arbitrary shaped complex targets by using Physical Optics (PO) and Modified PO. To increase the computational efficiency of the code, a novel fast integration procedure for oscillatory integrals, called Levin’s integration, is applied to PO integrals. In order to improve the performance of PO near grazing angles and to model diffraction effects, a method called PO with Modified Surface Normal Vectors is implem...
Modelling, simulation and testing of artificial neural network augmented kalman filter for INS/GPS and magnetometer integration
Yıldız, Doğan; Konukseven, Erhan İlhan; Nalbantoğlu, Volkan; Department of Mechanical Engineering (2016)
The objective of this thesis is to investigate a hybrid Artificial Intelligence/ Kalman Filter (AI/KF) system to determine 3D attitude, velocity and position of a vehicle in challenging GPS environment. In navigation problem, the aim is to determine the position and velocity of the host vehicle from initial conditions. By using Inertial Measurement Unit (IMU), it is possible to calculate position and velocity with an error. In other words, during the integration stage of the IMU measurement, errors will be ...
Fpga implementation of jointly operating channel estimator and parallelized decoder
Kılcıoğlu, Çağlar; Yılmaz, Ali Özgür; Department of Electrical and Electronics Engineering (2009)
In this thesis, implementation details of a joint channel estimator and parallelized decoder structure on an FPGA-based platform is considered. Turbo decoders are used for the decoding process in this structure. However, turbo decoders introduce large decoding latencies since they operate in an iterative manner. To overcome that problem, parallelization is applied to the turbo codes and the resulting parallel decodable turbo code (PDTC) structure is employed for coding. The performance of a PDTC decoder and...
Citation Formats
G. ASLAN, E. İ. Konukseven, and A. B. Koku, “Design and implementation of a 3D range scanner for mobile robots,” Key Engineering Materials, pp. 644–647, 2014, Accessed: 00, 2020. [Online]. Available: