Transversal positioned (TRAP) 2D laser range finder configuration

Osman Ervan; Onur Sencan; Hakan Temeltas

doi:10.1109/RoboMech.2016.7813154

Transversal positioned (TRAP) 2D laser range finder configuration

Osman Ervan, Onur Sencan, Hakan Temeltas

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper propose a new position configuration for 2D laser range finders (LRF) on mobile robots for simultaneous localization and mapping (SLAM) algorithms. In this study, a pair of 2D LRFs with 270°scanning range are replaced with exterior corresponding angles to the front left/right and rear right/left of the vehicle. This configuration is named as TRAnsversal Positioned (TRAP) and offers a 360°angle of field of view for the mobile robot without any blind region. This configuration ensures the AGV to identify anything inside the scanning area instantaneously. This study compares the TRAP configuration with the traditional configuration that the 2D LRF is positioned centred on the front and the rear for 'G-Mapping' SLAM method. Comparison tests are achieved under ROS (Robot Operating System) environment and results shows that TRAP configuration achieves better performance over the traditional configuration and these results are given for benchmarking.

Original language	English
Title of host publication	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509033355
DOIs	https://doi.org/10.1109/RoboMech.2016.7813154
Publication status	Published - 10 Jan 2017
Event	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016 - Stellenbosch, South Africa Duration: 30 Nov 2016 → 2 Dec 2016

Publication series

Name	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016

Conference

Conference	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016
Country/Territory	South Africa
City	Stellenbosch
Period	30/11/16 → 2/12/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Access to Document

10.1109/RoboMech.2016.7813154

Cite this

Ervan, O., Sencan, O., & Temeltas, H. (2017). Transversal positioned (TRAP) 2D laser range finder configuration. In 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016 Article 7813154 (2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RoboMech.2016.7813154

Ervan, Osman ; Sencan, Onur ; Temeltas, Hakan. / Transversal positioned (TRAP) 2D laser range finder configuration. 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016. Institute of Electrical and Electronics Engineers Inc., 2017. (2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016).

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title = "Transversal positioned (TRAP) 2D laser range finder configuration",

abstract = "This paper propose a new position configuration for 2D laser range finders (LRF) on mobile robots for simultaneous localization and mapping (SLAM) algorithms. In this study, a pair of 2D LRFs with 270°scanning range are replaced with exterior corresponding angles to the front left/right and rear right/left of the vehicle. This configuration is named as TRAnsversal Positioned (TRAP) and offers a 360°angle of field of view for the mobile robot without any blind region. This configuration ensures the AGV to identify anything inside the scanning area instantaneously. This study compares the TRAP configuration with the traditional configuration that the 2D LRF is positioned centred on the front and the rear for 'G-Mapping' SLAM method. Comparison tests are achieved under ROS (Robot Operating System) environment and results shows that TRAP configuration achieves better performance over the traditional configuration and these results are given for benchmarking.",

author = "Osman Ervan and Onur Sencan and Hakan Temeltas",

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Ervan, O, Sencan, O & Temeltas, H 2017, Transversal positioned (TRAP) 2D laser range finder configuration. in 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016., 7813154, 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016, Institute of Electrical and Electronics Engineers Inc., 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016, Stellenbosch, South Africa, 30/11/16. https://doi.org/10.1109/RoboMech.2016.7813154

Transversal positioned (TRAP) 2D laser range finder configuration. / Ervan, Osman; Sencan, Onur; Temeltas, Hakan.
2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016. Institute of Electrical and Electronics Engineers Inc., 2017. 7813154 (2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ervan, Osman

AU - Sencan, Onur

AU - Temeltas, Hakan

PY - 2017/1/10

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N2 - This paper propose a new position configuration for 2D laser range finders (LRF) on mobile robots for simultaneous localization and mapping (SLAM) algorithms. In this study, a pair of 2D LRFs with 270°scanning range are replaced with exterior corresponding angles to the front left/right and rear right/left of the vehicle. This configuration is named as TRAnsversal Positioned (TRAP) and offers a 360°angle of field of view for the mobile robot without any blind region. This configuration ensures the AGV to identify anything inside the scanning area instantaneously. This study compares the TRAP configuration with the traditional configuration that the 2D LRF is positioned centred on the front and the rear for 'G-Mapping' SLAM method. Comparison tests are achieved under ROS (Robot Operating System) environment and results shows that TRAP configuration achieves better performance over the traditional configuration and these results are given for benchmarking.

AB - This paper propose a new position configuration for 2D laser range finders (LRF) on mobile robots for simultaneous localization and mapping (SLAM) algorithms. In this study, a pair of 2D LRFs with 270°scanning range are replaced with exterior corresponding angles to the front left/right and rear right/left of the vehicle. This configuration is named as TRAnsversal Positioned (TRAP) and offers a 360°angle of field of view for the mobile robot without any blind region. This configuration ensures the AGV to identify anything inside the scanning area instantaneously. This study compares the TRAP configuration with the traditional configuration that the 2D LRF is positioned centred on the front and the rear for 'G-Mapping' SLAM method. Comparison tests are achieved under ROS (Robot Operating System) environment and results shows that TRAP configuration achieves better performance over the traditional configuration and these results are given for benchmarking.

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M3 - Conference contribution

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Ervan O, Sencan O, Temeltas H. Transversal positioned (TRAP) 2D laser range finder configuration. In 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016. Institute of Electrical and Electronics Engineers Inc. 2017. 7813154. (2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016). doi: 10.1109/RoboMech.2016.7813154

Transversal positioned (TRAP) 2D laser range finder configuration

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