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서대성(D. S. Seo),이호길(H.G. Lee),김홍석(H. S. Kim),류영선(Y. S. RYU),양광웅(K. W. Yang),김태주(T. J. Kim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
In this paper, we implement a sensor which can perceive obstacles. We constructed it with a laser emitting a structured light and a small pc camera. It is cheap and can measure the precise sizes of the obstacles. Ultrasonic arrays and laser scanners are used generally to perceive obstacles in the autonomous mobile robot until now. However we knew that they can perceive big obstacles well, but cannot perceive small obstacles on the ground by experiments. We mounted this equipment to our robot and use it to perceive the obstacles of the front side. Our robot can recognize the obstacles of 10mm height. We expect that this equipment will be useful because it is cheap but work well.