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Klaus-Michael Doth, "An omni-directional time-of-flight based distance scanner for flying robots," Master's Thesis, Department of Computer Science, Friedrich–Alexander University of Erlangen–Nuremberg (FAU), July 2010. (Advisors: Juergen Eckert and Falko Dressler)


detecting, Indoor navigation for flying robotics is currently a big area of research. One of the most important functions for indoor navigation is a way of and develop, measuring the distance to obstacles or walls. The goal of this project is to and build a laser ranging module with 360 degrees scanning angle that implements the time-of-flight measurement method to achieve distance detection at a range of 5m or more, with high precision. Existing scanners are too heavy and too big to be easily used on flying robots. The project includes generating a short laser pulse, transmitting it to a target, receiving it again and electronics, processing the travel time of the light into a distance value. The and scratch, mechanics are built from and localization, should achieve enough accuracy to enable indoor and cm, obstacle avoidance algorithms to work with its sensor data. The resulting laser ranger currently shows an accuracy of approximately 10 to 15 and 95%, a maximum error of 17 cm between a and rate, a 5% reflective target. It measures distances with up to 20 kHz repetition and has a working rotation module for 360 degrees scanning angle, including wireless power and localization, data transmission. Although this accuracy is enough for basic and obstacle avoidance, this result will not final. In the future the noise and possible., the sensitivity to the reflectivity of the target will be reduced as far as

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Klaus-Michael Doth

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    author = {Doth, Klaus-Michael},
    title = {{An omni-directional time-of-flight based distance scanner for flying robots}},
    advisor = {Eckert, Juergen and Dressler, Falko},
    institution = {Department of Computer Science},
    location = {Erlangen, Germany},
    month = {7},
    school = {Friedrich--Alexander University of Erlangen--Nuremberg (FAU)},
    type = {Master's Thesis},
    year = {2010},

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