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Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR

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, a...

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Detalles Bibliográficos
Autores principales: Pang, Cong, Zhong, Xunyu, Hu, Huosheng, Tian, Jun, Peng, Xiafu, Zeng, Jianping
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6022102/
https://www.ncbi.nlm.nih.gov/pubmed/29844278
http://dx.doi.org/10.3390/s18061749
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author Pang, Cong
Zhong, Xunyu
Hu, Huosheng
Tian, Jun
Peng, Xiafu
Zeng, Jianping
author_facet Pang, Cong
Zhong, Xunyu
Hu, Huosheng
Tian, Jun
Peng, Xiafu
Zeng, Jianping
author_sort Pang, Cong
collection PubMed
description 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.
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spelling pubmed-60221022018-07-02 Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR Pang, Cong Zhong, Xunyu Hu, Huosheng Tian, Jun Peng, Xiafu Zeng, Jianping Sensors (Basel) Article 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. MDPI 2018-05-29 /pmc/articles/PMC6022102/ /pubmed/29844278 http://dx.doi.org/10.3390/s18061749 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Pang, Cong
Zhong, Xunyu
Hu, Huosheng
Tian, Jun
Peng, Xiafu
Zeng, Jianping
Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR
title Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR
title_full Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR
title_fullStr Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR
title_full_unstemmed Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR
title_short Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR
title_sort adaptive obstacle detection for mobile robots in urban environments using downward-looking 2d lidar
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6022102/
https://www.ncbi.nlm.nih.gov/pubmed/29844278
http://dx.doi.org/10.3390/s18061749
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