Abstract
The useful environmental interaction of a mobile robot is completely dependent on the reliable extraction of information from its immediate surroundings. A review of some of the most commonly used coaxial, active sensing methods in robotics is presented. A coaxial sensor results if the transmitter and receiver are geometrically arranged in a coaxial manner. Certain advantages of such configurations are discussed. First, optical sensors, in which a controlled light signal is transmitted, are reviewed with respect to their applicability to mobile robotics. An overview of the literature describing light detection and ranging (LIDAR) systems for range measurement in robotics is given. A review of mobile robot research using sound navigation and ranging (SONAR) is presented where processing algorithms are demonstrated for the correct interpretation of ultrasonic data recorded in indoor environments. Ultrasonic wave reflection is generally dominated by specular reflections. Methods for the interpretation of SONAR data, for correct target classification, and, hence, range estimation are given, based on the acoustic reflection mechanism.
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