Shot-range 3D Scanning System for Home Walking Robot

Abstract

This paper presents a prototype of a shot-range vision system for a domestic quadruped robot. The vision system generates a grid of distances to the supporting surface and the nearest obstacles in locations where the robot’s legs might be positioned. Scanning along the robot’s path is performed using a laser lidar. The lidar is rotated by an additional servo drive. The proposed prototype system utilizes an inexpensive 2D lidar. The design of the scanning system is presented, and options for using laser scanners are proposed. A mathematical model of the scanning system for converting lidar data into the walking robot’s coordinate system is presented. The mathematical model is used to construct an obstacle height map in the robot’s near field. The height map can be used to detect obstacles in front of the robot and plan movements on complex surfaces. This paper discusses lidar data processing, which enables the required scanning accuracy to be achieved. Testing on an experimental setup confirmed the key parameters for scanning accuracy. The proposed scanning system reduces the cost of the control system, lowers computing power requirements, and increases the battery life of a domestic walking robot.