For the localization of a mobile robot (Pioneer P3-DX, Adept Inc), a laser scann

Question

For the localization of a mobile robot (Pioneer P3-DX, Adept Inc), a laser scanner is placed on top of the robot. The laser scanner sends out laser beams that are 1 degree apart to each other, throughout the field of view (180 degrees, as shown in Fig. 1). The laser scanner provides measurements to a PC in a specific, constant rate. The laser scanner has a range of 0-15 m and for every beam, it sends one byte of data through serial communication to the PC. An embedded controller on the mobile robot controls the robot wheels according to the laser scanner measurements. After an initial experiment that lasted for 1 minute, we collected 1200 measurements from the scanner. What is the sampling period, in seconds, and the acquisition frequency, in Hz, of the laser scanner? What is the minimum resolution in (m) for the surroundings of the robot, given by the scanner? The laser scanner on the robot, A typical mobile robot with a laser scanner on top. A typical laser scanner.

Explanation / Answer

A. sampling period is 1sec/1200 = 833.333 microseconds

acquisition frequency is 1200 Hz

B. minimum resolution is 0.0588 meters

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