Measurement scanning schemes for terrain modeling

A scanning scheme for the laser rangefinder aboard an autonomous Mars Rover is developed. The rover is expected to be able to traverse an incline of slope up to 25% deg positive or negative. The total azimuth angle of the rangefinder is calculated so that the rangefinder can scan a width of 3 m at a distance of 3 m. A combination of two approaches is considered: scanning the field with a data point spacing appropriate for the terrain modeling technique, followed by zoom scanning with reduced spacing aimed at an obstacle location indicated in a previous terrain scan. It is found that the scan time and total number of data points can be reduced by dividing the field into corridors. The scan is divided into two subscans: the initial scan covering the entire field, and a corridor scan. The corridor scan method reduces the core required in the on-board computer. Hardware changes are expected to be small since the parameters of the corridor are fixed and a continuously variable point spacing is not necessary.