Understand The Technical Studies, Based On Multiple Scan Lines Laser Radar Environment

Because of the high precision, laser radars are widely used in the field of mobile robot, autonomous land vehicle (ALV) and assistants of driving in the recent years. In indoor environment, people have made lots of achievements in obstacle detection. However, in outdoor environment, how to obtain valid obstacle maps and how to match and track obstacles with laser radars turn into burning problems for ALV.This paper discusses the measuring principle of multi-layer laser-based range finding device (LD ML) and gets its calibration through simplifying the measuring environment.The paper presents the conception of environment gradient-line via taking full advantage of the character"multi-layer", and differentiates between passable and impassable regions according to their gradients. Based on gradient-lines, methods of distance-clustering, grid-clustering, ellipse-clustering and the comparison of their performance are present.At last, the paper introduces the building of ARCnet, the initialization of TPMC815 net card and the manipulation of COM20020 net controller. It carries out high and low-level protocols, and implements the integration of LD ML and driving-control system.