Simulation of a Radial Laser Scanner for Developing Mobile Robotic Algorithms

Abstract

A Radial Laser Scanner is a device that provides distances to the surrounding objects by scanning the environment in a plane (usually parallel to the ground). This paper is concerned with the precise modeling and simulation of one of such as sensor, called the Explorer. Based on the calibration of this sensor, we propose a model where the sensor readings are a function of three independent parameters: a gaussian error noise (standard deviation), the true distance to the target and its orientation. By using this model we have developed a software that accurately simulates the data provided by the Explorer as it was working on a mobile robot navigating in a specified environment. Others parameters such as the tilt of the laser beam, the specular behavior of the surface and the mixed point effect are also taking into account when simulating. This simulator, that incorporates a powerful graphical interface, permits to develop and test new robotic navigation algorithms (basically for position estimation and map building) and has demonstrated to accurately reproduce the real sensor measurements