Robotics Engineering

LiDAR-Based Dynamic Safety Envelope Boundary with Occlusion-Aware FOV Projection and Uncertainty Propagation Calculator

LiDAR-Based Dynamic Safety Envelope Boundary with Occlusion-Aware FOV Projection and Uncertainty Propagation engineering calculator.

Quick Answer

Calculate LiDAR-Based Dynamic Safety Envelope Boundary with Occlusion-Aware FOV Projection and Uncertainty Propagation

Calculator

Dynamic safety envelope boundary radius (m)
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Result Interpretation

LiDAR-Based Dynamic Safety Envelope Boundary with Occlusion-Aware FOV Projection and Uncertainty Propagation Calculator computes Dynamic safety envelope boundary radius in m using the defined engineering formula and the input values provided.

Worked Example

Verified calculation

Given:

  • Occlusion-induced safety margin multiplier = 0.1
  • Maximum LiDAR detection range = 25
  • Minimum LiDAR detection range = 0.12
  • Half-angle of LiDAR field of view = 0.785398
  • Angular measurement uncertainty of LiDAR = 0.00174533

Expected Result:

  • Dynamic safety envelope boundary radius = 19.488427265046

Engineering Interpretation:

Under the given input conditions, the calculated result is: Dynamic safety envelope boundary radius = 19.488427265046 m.

The actual numerical result is computed by the Runtime engine using the persisted tool definition. The values shown here come from automatically validated test cases.

Formula / Method

dynamic safety envelope boundary radius = sqrt(pow(maximum lidar detection range, 2) - pow(minimum lidar detection range, 2)) * cos(half-angle of lidar field of view) * (1.0 + angular measurement uncertainty of lidar / half-angle of lidar field of view) * (1.0 + occlusion-induced safety margin multiplier)

Formula family: formula_robotics_lidar_based_dynamic_safety_envelope_generator

Variables

SymbolLabelRoleDescription
lidar_max_range_m Maximum LiDAR detection range INPUT Maximum LiDAR detection range
lidar_min_range_m Minimum LiDAR detection range INPUT Minimum LiDAR detection range
fov_half_angle_rad Half-angle of LiDAR field of view INPUT Half-angle of LiDAR field of view
lidar_angular_uncertainty_rad Angular measurement uncertainty of LiDAR INPUT Angular measurement uncertainty of LiDAR
occlusion_factor Occlusion-induced safety margin multiplier INPUT Occlusion-induced safety margin multiplier
safety_envelope_boundary Dynamic safety envelope boundary radius OUTPUT Dynamic safety envelope boundary radius

Calculation Steps

  1. Enter the maximum lidar detection range in m.
  2. Enter the minimum lidar detection range in m.
  3. Enter the half-angle of lidar field of view in rad.
  4. Enter the angular measurement uncertainty of lidar in rad.
  5. Enter the occlusion-induced safety margin multiplier in 1.
  6. Step 1: Compute dynamic safety envelope boundary radius.
  7. Read the dynamic safety envelope boundary radius (m) from the results.

Engineering Summary

Calculate LiDAR-Based Dynamic Safety Envelope Boundary with Occlusion-Aware FOV Projection and Uncertainty Propagation

Frequently Asked Questions

What does this calculator calculate?

The LiDAR-Based Dynamic Safety Envelope Boundary with Occlusion-Aware FOV Projection and Uncertainty Propagation Calculator estimates Dynamic safety envelope boundary radius based on the input parameters you provide

Why is maximum lidar detection range important in this calculation?

maximum lidar detection range is directly proportional to dynamic safety envelope boundary radius. When you enter maximum lidar detection range in m, the calculator uses it in the engineering formula to compute the output

How should I interpret the result dynamic safety envelope boundary radius?

The calculator outputs dynamic safety envelope boundary radius in m. The result is computed directly from the input values using the defined engineering formula

What units should I use for the inputs?

Enter each value in the units shown next to the input field: Maximum LiDAR detection range (m), Minimum LiDAR detection range (m), Half-angle of LiDAR field of view (rad), Angular measurement uncertainty of LiDAR (rad). Make sure all inputs use the specified units for consistent results

What assumptions does this calculator use?

This calculator uses automatically validated engineering formulas. Results are approximate and should be validated against site-specific conditions, applicable codes, and professional engineering judgment

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