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Adaptive obstacle detection for mobile robots in urban environments using downward-looking 2D LiDAR

Pang, C and Zhong, X and Hu, H and Tian, J and Peng, X and Zeng, J (2018) 'Adaptive obstacle detection for mobile robots in urban environments using downward-looking 2D LiDAR.' Sensors, 18 (6). ISSN 1424-2818

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Abstract

Environment perception is important for collision-free motion planning of outdoor mobile robots. This paper presents an adaptive obstacle detection method for outdoor mobile robots using a single downward-looking LiDAR sensor. The method begins by extracting line segments from the raw sensor data, and then estimates the height and the vector of the scanned road surface at each moment. Subsequently, the segments are divided into either road ground or obstacles based on the average height of each line segment and the deviation between the line segment and the road vector estimated from the previous measurements. A series of experiments have been conducted in several scenarios, including normal scenes and complex scenes. The experimental results show that the proposed approach can accurately detect obstacles on roads and could effectively deal with the different heights of obstacles in urban road environments.

Item Type: Article
Uncontrolled Keywords: obstacle detection; outdoor mobile robot; LiDAR sensor; line segments; road height and vector
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 29 Jun 2018 15:21
Last Modified: 29 Jun 2018 15:21
URI: http://repository.essex.ac.uk/id/eprint/22338

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