제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Laser Range Finder for the Mobile Robot Navigation using a Lock-in Amplifier

  • Yoon, Hee-Sun (Department of Mechatronics, GIST(Gwangju Institute of Science and Technology)) ;
  • Shin, Myung-Kwan (Department of Mechatronics, GIST(Gwangju Institute of Science and Technology)) ;
  • Park, Kyi-Hwan (Department of Mechatronics, GIST(Gwangju Institute of Science and Technology))
  • Published : 2005.06.02
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Abstract

Map building is the most important thing for the mobile robots navigation. It requires specific vision system such as CCD camera, range finding system, and many other things. Laser range finder has highly collimated beams can be obtained easily, thus achieving lateral resolution. Laser Diode is used for a continuous laser source. The Automatic Current Control Circuit and the Bias-T is used for mix AC signal with DC bias. This signal is used for driving Laser Diode. The main idea of the calculating distance is detecting phase shift between reference signal and detected signal by photo detector. For the signal processing, the Lock-in amplifier system is addressed in this paper. We used a diffused reflected beam to detect phase shift in this system. But this beam is minuteness signal so it can be easily buried in nose. Lock-in amplifier is used to measure the amplitude and phase of signals which are buried in noise.

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