Perception System for Navigation in a 3D Outdoor Environment

Abstract This communication describes the development of a perception system based on a laser sensor for distances (LFR) which incorporates internally a horizontal scanner and is equipped with a mechanism for making a vertical scan. The objective of the system is to construct and maintain an environment description appropriate for navigation tasks, with the special characteristic of processing sloped environments, a typical outdoor situation. The system is integrated in a mobile robot in such a way that its design and data generation are related to the requirements of the control module and navigation module in the robot.