Modeling and Simulation of 3D Laser Range Scanner with Generic Interface for Robotics Applications

The aim of this work is to describe the physics -base d simulation mode l of a custom 3D range laser scanner toge ther with ge ne ric inte rface which offe rs the possibility for clie nt applications to seamlessly inte ract with instances of the physical and virtual 3D range scanne r. The physics base d virtual mode l of the 3D range scanne r is realize d in rigid body dynamics e nvironme nt provide d by Ope n Dynamics Engine (ODE) library. In orde r to simulate the ste ppe r motor use d in the real scanne r, the joints are virtually constraine d and motorize d with the parame ters obtaine d from real de vice . For rays mode ling the ray-cast me thod is use d. The incide nce angle and the surface prope rties of the object hit by the rays are also take n into the consideration. The se nsor noise that re presents the unce rtainty of the measure is also take n into account. We have also trie d to mimic the internal se nsor control logic. In orde r to ve rify the de ve lope d mode l and the interface archite cture , a simple clie nt application for 3D data acquisition is de ve lope d and connecte d through the same inte rface to both “physical” and “virtual” de vice . The results of the e valuation are also re porte d and discusse d.