Open AccessLaser-scanning rangefinder fixed on a gimbal with two degrees of freedom
Author(s) -
Vladimir Zelenskiy,
M. V. Kapalin
Publication year - 2021
Publication title -
vestnik samarskogo universiteta. aèrokosmičeskaâ tehnika, tehnologii i mašinostroenie
Language(s) - English
Resource type - Journals
eISSN - 2541-7533
pISSN - 2542-0453
DOI - 10.18287/2541-7533-2021-20-3-37-48
Subject(s) - gimbal , autopilot , obstacle avoidance , computer science , obstacle , computer vision , laser scanning , artificial intelligence , software , collision avoidance , degrees of freedom (physics and chemistry) , simulation , laser , control theory (sociology) , engineering , aerospace engineering , robot , mobile robot , optics , physics , control (management) , geography , programming language , computer security , collision , quantum mechanics , archaeology
A laser-scanning rangefinder mounted on a gimbal with two degrees of freedom is presented. The rangefinder can be used as part of a navigation system of an unmanned aerial vehicle to avoid obstacles or prevent collisions. Compared to stereo cameras, the device requires significantly less computing resources and is less dependent on lighting conditions. Compared to integrated lidars, the cost of the device is by an order lower. А model of the device was developed and an obstacle avoidance flight was simulated in the Gazebo simulator. The PX4/Avoidance software was used as an autopilot. As a result of a model experiment, we found that a scanning laser rangefinder can provide autonomous navigation with obstacle avoidance.