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Subsections


7.22 lasercspace

Authors

Andrew Howard ahoward(at)usc.edu

Figure 7.2: (a) Standard laser scan. (b) The corresponding C-space scan for a robot of radius 0.05 m
\begin{figure}\begin{center} \begin{tabular}{cc} \frame{\epsfig{file=drivers/las... ...ce-2.eps, height=40mm}} \\ (a) & (b) \\ \end{tabular} \end{center}\end{figure}

Synopsis

The lasercspace driver processes a laser scan to compute the configuration space (`C-space') boundary. That is, it shortens the range of each laser scan such that the resultant scan delimits the obstacle-free portion of the robot's configuration space. This driver is particular useful for writing obstacle avoidance algorithms, since the robot may safely move to any point in the obstacle-free portion of the configuration space.

Note that driver computes the configuration space for a robot of some fixed radius; this radius may be set in the configuration file.

Interfaces

Supported interfaces:

Required devices:

Supported configuration requests:

Configuration file options

Name Type Default Meaning
laser integer 0 Index of the laser device to use.
radius length 0.50 Robot radius.

Notes

next up previous contents
Next: 7.23 laserbar Up: 7. Device Drivers Previous: 7.21 khepera   Contents
2004-06-02