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30117

An Alternative Method to Simulate Three-Dimensional Point Scan Sensors aboard Moving Vehicle

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Last updated: 04 Jan 2025

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Abstract

This paper introduces an alternative simulation algorithm of a Laser Measurement System LMS sensor. The sensor is mounted on an autonomous ship sailing. The ship identifies the environment (surrounding fixed or moving obstacles) for safe navigation through the sensor. The simulation is done with six degree of freedom. The proposed algorithm was applied by a vb.net 2010 program - written as part of the research- to do the simulation of the proposed model to reduce calculation overhead and to allow creation of embedded system. The simulation algorithm was verified by in field sea trials on an 11m long yacht with two 250 hp outboard engines. Sick 218-laser measurement system was used. The results showed that ship relatively high (roll, pitch) motion dynamics generates false data. It produces a large number of fake points (sea in case of unmanned surface vehicle or ground surface in case of robot moving on ground), which greatly
overloads data processing system and in the same time reduces the target-detected points. This leads to reduction of the capability of detection. This paper suggests a number of solutions to reduce this effect were suggested in this paper. This paper is a step toward building an autonomous vehicle that can move in complex environment using a Point Scan Sensor as main sensor.

DOI

10.21608/iceeng.2018.30117

Keywords

Point Scan Sensor, Simulation, Object detection, autonomous navigation, LMS, Unmanned Surface Vehicle

Authors

First Name

M.

Last Name

Mosleh

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Affiliation

Naval Architecture and Marine Engineer Dept., Faculty of Engineering, Alexandria University, Alexandria.

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First Name

Gamal

Last Name

Zaghloul

MiddleName

Abbas

Affiliation

Mechanical Power Engineering Dept., Faculty of Engineering, Port Said University.

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First Name

Hany

Last Name

Arnaoot

MiddleName

M.

Affiliation

Egyptian Armed Forces.

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Volume

11

Article Issue

11th International Conference on Electrical Engineering ICEENG 2018

Related Issue

5236

Issue Date

2018-04-01

Receive Date

2019-04-15

Publish Date

2018-04-01

Page Start

1

Page End

11

Print ISSN

2636-4433

Online ISSN

2636-4441

Link

https://iceeng.journals.ekb.eg/article_30117.html

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https://iceeng.journals.ekb.eg/service?article_code=30117

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2

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Original Article

Type Code

833

Publication Type

Journal

Publication Title

The International Conference on Electrical Engineering

Publication Link

https://iceeng.journals.ekb.eg/

MainTitle

An Alternative Method to Simulate Three-Dimensional Point Scan Sensors aboard Moving Vehicle

Details

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Article

Created At

22 Jan 2023