3DML: A 3-D Miniature LIDAR for Small Unmanned Ground Vehicles

A small-envelope, inexpensive 3D LIDAR with the high performance required by UGV navigation and operations applications does not currently exist. We propose to develop such a sensor, drawing on technology matured by Honeybee Robotics under DARPA and NASA funding. Our 3D Miniature LIDAR (3DML) design uses an innovative drum scanner in conjunction with a pulse-time-of-flight (PTOF) optical rangefinding subsystem. Important performance characteristics include: a wide field-of-view for adequate near-field vision, a frame rate sufficient for real-time operation, and resolution high enough for terrain assessment, obstacle characterization and local mapping. Honeybee’s 3DML technology is uniquely suited to address these desirements in an ultra-compact package at low per-unit cost. One key innovation is the optical drum scanner, combining a large aperture and wide field-of-view with robust mechanical operation and small size. Equally important are the electronic subsystems, enabling serial ranging of points at high resolution and very high speeds. The primary goal of Phase I will be adapting the 3DML architecture to meet the demands of the SUGV application. Prototyping of key subsystems will demonstrate technology readiness prior to Phase II. A Phase I Option will be used to complete a detailed design of the optical drum and prototype the optical transmitter.