An Optical Range Sensor for Mobile Robot Guidance

W e describe the development of a large f ie ld of v iew laser scanning sensor, based on the lateral-eflect photodiode, f o r short range mobile roboi manoeuvres such a s obstacle avoidance and docking. Synchronous detect ion is used t o approach the theoretical l imit of sensor performance. Resul ts suggest that w e are only 82% above this l imit , allowing us t o ez tend the use of lateral effect photodiodes over longer ranges ihan have been used traditionally, whilst maintaining class II eye safeiy in the sensor. Finally, we use the sensor characterisation developed in the paper t o provide data for discontinui ty detection algorithm based on ihe eztended K a l m a n filter.