A Method for Detecting Dynamic Objects Using 2D LiDAR Based on Scan Matching

Abstract

The autonomous movement of the mobile robotic system is a complex problem. If there are dynamic objects in the space when performing this task, the complexity of the solution increases. To avoid collisions, it is necessary to implement a suitable detection algorithm and adjust the trajectory of the robotic system. This work deals with the design of a method for the detection of dynamic objects; based on the outputs of this method, the moving trajectory of the robotic system is modified. The method is based on the SegMatch algorithm, which is based on the scan matching, while the main sensor of the environment is a 2D LiDAR. This method is successfully implemented in an autonomous mobile robotic system, the aim of which is to perform active simultaneous localization and mapping. The result is a collision-free transition through a mapped environment. Matlab is used as the main software tool.