Development of LIDAR System Using Camera And Laser

Gürkan Küçükyıldız, Suat Karakaya

In this study, the instantaneous distances of the objects in the environment were studied by using camera and laser. In the developed system, a mirror was used to keep the camera and the laser fixed and change the view angle of both. The mirror is integrated into the system to provide a 45o angle to the focus line of the camera. One reducer DC motor is used to rotate the mirror in the system. In this way, the system can receive data at a desired speed and resolution in a 270-degree area. The codes for the system are written in Phyton environment and a development card based on the Atmel Atmega328p processor is used for controlling the DC motor in the system. It is seen that the developed system scans an area of 360o with a resolution of 3.30o within 1.8 seconds.

Encoder-Based Localization, Obstacle Detection on a Mobile Robot Platform

Gürkan Küçükyıldız, Suat Karakaya

In this study, a mobile robot which is sensitive to its environment was developed and the mobile robot was tested in different obstacle conditions. The mobile robot senses the obstacles via a laser range finder(Lidar) sensor mounted on its body. The developed mobile robot has two front wheels which are coupled with two separated DC motors and single caster as rear wheel. Real time location of the mobile robot was handled from the encoders coupled with the front wheels. This location info was plotted on a user interface which was developed in Visual C # 2010 environments. Obstacle and heading direction detection was developed in Visual Basic 6.0 environment.

Detection of Obstacle-Free Gaps for Mobile Robot Applications Using 2-D LIDAR Data

Suat Karakaya

Mobile robotics is one of the most studied scientific and technological fields, which is still in progress. Several research interests such as path planning, point stabilization, localization, obstacle avoidance and passable gap detection are commonly studied fields. Gap detection task affects the path planning characteristics of a mobile robot. Especially under presence of limited information about robot’s environment, passable gap detection is necessary for steering the mobile robot towards a goal autonomously. This paper concentrates on passable gap detection for unconstructed environments, which contain only positive obstacles. The method considers specific obstacle configurations such as presence of wall-type obstacle, maze type environments and random placed small sized obstacles. The method proposed in this study is based on reading distance of the obstacles in a certain range and detecting the borders of passable gaps. The detected gaps are re-organized depending on the priority assigned by the robot’s passage order of the gaps. The proposed scheme not only utilizes simple derivation of the measurement data but also extracts hidden gaps in the environment. The proposed scheme assumes the mobile robot is equipped with laser range sensor (LIDAR). A real LIDAR is modelled and adapted to the developed algorithm. The algorithm was developed in Matlab.

Obstacle and Optimal Heading Direction Detection Algorithm On a Mobile Robot Platform

Gürkan Küçükyıldız, Suat Karakaya

In this study, Sick­LMS100 Lidar was used for detecting the obstacles around a mobile robot platform and finding the best heading direction. The computer and the LIDAR were communicated via Ethernet TCP/IP in order to gather position information of the objects around. The algorithm, which was developed in Visual Basic 6.0 environment, chose the optimal heading direction relative to the positions of the obstacles. The gathered path information was then sent to a DSP for motor control via serial port. A mobile robot platform was developed during the study and the optimum heading direction finding algorithm was tested on this mobile robot platform in real time. The results which were gathered in several conditions were compared.

Development of a Human Tracking Indoor Mobile Robot Platform

Gürkan Küçükyıldız, Suat Karakaya

In this paper, a differential drive mobile robot platform was developed in order to perform indoor mobile robot researches. The mobile robot was localized and remote controlled. The remote control consists of a pair of 2.4 GHz transceivers. Localization system was developed by using infra­red reflectors, infrared leds and camera system. Real time localization system was run on an industrial computer placed on the mobile robot. The localization data of the mobile robot is transmitted by a UDP communication program. The transmitted localization information can be received any computer or any other UDP device. In addition, a LIDAR (Light Detection and Ranging; or Laser Imaging Detection and Ranging) and a Kinect three­dimensional depth sensor were adapted on the mobile robot platform. LIDAR was used for obstacle and heading direction detection operations and Kinect for eliminating depth data of close environment. In this study, a mobile robot platform which has specialties as mentioned was developed and a human tracking application was realized real time in MATLAB and C# environment.

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