By using the laser scanner for sensing the surrounding environment, an obstacle avoidance strategy of mobile robots under dynamic environments was designed.

以激光雷达作为主要的环境感知传感器，针对动态环境设计了一种移动机器人避障策略。

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At the same time, a dynamic adaptive filter is designed to reduce the noisy disturbance in range measurement of obstacles by analyzing the ranging data of laser scanner in the robot motion.

同时，通过移动机器人运行过程中激光雷达的测距数据分析，设计了动态自适应滤波器以消除障碍检测中的测距噪声干扰。

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This paper explains the basic conception of IR scanner, and the difficult problem of optical design because of the dynamic ray tracing.

介绍了红外光机扫描器的基本原理和概念，以及扫描器设计中的光路追迹问题。

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