Obtaining the three-dimensional structure of the current environment by using fiber grating laser system

It is a necessity that the mobile robots should determine first the obstacles in the environment in which they are located, and then depending on their dimensions, the free areas between the obstacles. For this aim, determination of the mobile robots position is a necessity. In order to find the position of the mobile robot and the locations of the obstacles around it, systems which sense the environment with the help of the camera and provide facilities for self guidance of the mobile robot, were developed based on the development of information technologies.In the scope of this project, an omnidirectional vision system, which can be used for mobile robots and was intended to determine both the obstacles in the environment and the places through which a mobile robot can pass, by sensing the environment in a three dimensional manner, was developed. During the experiments carried out by using both the mathematical model developed to reduce the errors occurred from the hardware used in the system, and the developed software based on this model, much wider three dimensional structure of the environment was obtained, when compared with classical cameras.It was seen that, the error rates in the developed system was remained under 10 percent for all three coordinate axes. Since the location computations are continuously carried out by using the images taken consecutively, and the error rates are acceptable for the close distances, it was seen that this system can be used in mobile robots.