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A LATERAL-EFFECT PHOTODIODE SCANNING SENSOR FOR AUTONOMOUS VEHICLE MANOEUVRES

By N. E. Pears and P. J. Probert

Abstract

Abstract A large eld of view laser scanning sensor, based on the lateral-e ect photodiode, and designed for close range mobile robot manoeuvres, is described. Laser modulation and synchronous detection are used to approach the theoretical white noise limit of sensor performance. Noise in the system, which determines ranging accuracy, is determined from logarithmic plots of signal strength and image resolution against range. The results suggest that sensor accuracy is around 82 % above the theoretical performance limit. Finally, some typical scans are presented. Key Words. Robots; sensors; signal detection; signal processing; guidance systems 1

Year: 2013
OAI identifier: oai:CiteSeerX.psu:10.1.1.310.9373
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