Detection of moving obstacles for mobile robot using laser sensor

Abstract

Detection of moving obstacles is a difficult problem of mobile robot navigation. Considering the dynamic unknown environments as research background, an autonomous detection method of moving obstacles based on laser sensor is presented. The polar-coordinates-based nearest neighbor approach is adopted to realize the spatial clustering of obstacles according to the ranging data of laser sensor. The characteristic parameters of clustering obstacles are analyzed. With the analysis of time association, the matching and classification algorithms of obstacles are designed. Finally, using a circular “puffing” method to update the parameters of moving obstacles. Simulation results show the effectiveness of the method.