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Road surface and obstacle detection method based on forward two-dimensional laser radar mobile scanning

A lidar, mobile scanning technology, applied in the field of environmental perception, can solve problems such as high price

Inactive Publication Date: 2018-08-14
XIAMEN UNIV
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Problems solved by technology

[0015] Aiming at the detection of road areas and obstacles in the autonomous navigation of outdoor mobile robots, and the unbearable and expensive problems caused by the use of 3D laser radar, the present invention provides a forward-leaning 2D laser radar-based mobile scanning road surface suitable for small unmanned vehicles with obstacle detection method

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  • Road surface and obstacle detection method based on forward two-dimensional laser radar mobile scanning

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Embodiment Construction

[0080] The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings and embodiments.

[0081] The present invention comprises the following steps:

[0082] 1) Coordinate system definition and coordinate conversion:

[0083] Install the 2D laser radar scanning rangefinder directly in front of the mobile robot, the angle of inclination to the ground is α, and define the coordinate system of the laser radar as F L (O L ,θ,l,X L ,Y L ), O L is the laser source point, (θ, l) is the polar coordinates of the scanning point, θ is the scanning angle, l is the scanning distance, (X L ,Y L ) is the Cartesian coordinate of the scanning point in this coordinate system, and the starting angle of scanning θ min = θ 1 , end angle θ max = θ N , scan angle θ j , scan distance l j , angular resolution Δθ=θ j -θ j-1 ; The coordinate system of the robot is defined as F R (O R ,X R ,Y R ,Z R ), O R is the conta...

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Abstract

The invention discloses a road surface and obstacle detection method based on forward two-dimensional laser radar mobile scanning, and relates to an environment perception technology of a mobile robotin the city environment. The method comprises the steps that a coordinate system is defined and a coordinate is transformed, scanning spot segmentation is carried out in a radar coordinate system, and a line segment is divided into an obstacle segment and a road surface segment. For the current road area and obstacle detection in the autonomous navigation of an outdoor mobile robot and the unbearable problem of expensive cost caused by adopting three-dimensional laser radar, the line segment is extracted from sensor original data, and then the height and vector of scanning the road surface ateach moment are estimated; and lastly, according to the average height of each line segment and the estimated deviation of the line segment of scanning a road vector, and the line segment is dividedinto a ground and an obstacle part. The road surface and obstacle detection method based on the forward two-dimensional laser radar mobile scanning has the advantages that the method has quick, stableand reliable characteristics, the problem is solved that the three-dimensional radar must be used for environment three-dimensional scanning, and the safety of the navigation of the outdoor mobile robot is improved.

Description

technical field [0001] The present invention relates to the environmental perception technology of mobile robot in urban environment, especially relates to the road surface and obstacle detection method based on forward-leaning 2D lidar mobile scanning. Background technique [0002] Environmental perception, especially the detection of road surfaces and existing obstacles, is one of the key technologies for autonomous and safe navigation of service robots, self-driving cars, express delivery robots and smart wheelchairs. Currently, environmental detection sensors mainly use cameras, RGB-D depth cameras, and lidars. [0003] Although camera-based road and obstacle detection methods have the advantages of low operating power consumption, low cost, and high information content, when encountering complex shadows or severe weather conditions, the detection effect will be greatly reduced and the robustness is poor; in addition, , the camera cannot obtain high-precision 3D informa...

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Application Information

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IPC IPC(8): G01S7/48
CPCG01S7/4802
Inventor 仲训昱田军庞聪彭侠夫曾建平
Owner XIAMEN UNIV
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