Performance of Laser and Radar Ranging Devices in Adverse Environmental Conditions

A comparative evaluation of millimeter-wave radar and two-dimensional scanning lasers in dust and rain conditions for sensor applications in field robotics is presented. A robust and reliable method for measuring the level of suspended dust (or other obscurant media) by determining the transmission coefficient is developed and used for quantitative assessment of sensor performance. The criteria of target acquisition reliability, precision, and accuracy under varying environmental conditions are assessed via sensor operation in a controlled environment. This environment generated dust and rain of varying densities. Sensor performance is also assessed for the potential effect on digital terrain mapping and haul truck localization due to sensor-specific behaviors in these conditions (e.g., false targets, increased noise). Trials on a research electric face shovel are conducted to test observed behaviors. It is concluded that laser scanners are suitable for environments with transmissions exceeding 92%-93%/m for targets closer than 25 m. The radar remained relatively unaffected by the generated conditions of rain (50-70 mm/h) and dust (10-m visibility); however, its accuracy (0.1 m with a corner reflector and 0.3 m on a haul truck), free-space clutter, and scan rate were insufficient for locating unmodified haul trucks for this application. (C) 2009 Wiley Periodicals, Inc.