Abstract
This paper describes a concept and implementation of cone-shaped scanning LIDAR for mobile robots. It makes laser lines to scan from the top of a mobile robot for covering the whole robot body and measuring the floor shape. This concept enable mobile robots to detect terrain shape with superior and constant density. In addition, it can be used for safety sensor because the laser beams cover the robot to detect upcoming obstacles or human beings. An implementation and evaluation with a cone shaped mirror are shown.
