LASER-RADAR IN ROBOTICS

In this paper we describe the basic operating principles of laser lase r radar sensors and the typical algorithms used to process laser radar imagery for robotic applications. We review 12 laser radar sensors to illustrate the variety of systems that have been applied to robotic a pplications wherein information extracted from the laser radar data is used to automatically control a mechanism or process. Next we describ e selected robotic applications in seven. areas: autonomous vehicle na vigation, walking machine foot placement, automated service vehicles, manufacturing and inspection, automotive, military, and agriculture. W e conclude with a discussion of the status of laser radar technology a nd suggest trends we see in the application of laser radar sensors to robotics. Many new applications are expected as the maturity level pro gresses and system costs are reduced.