An Obstacle-Finding Approach for Autonomous Mobile Robots Using 2D LiDAR Data

摘要

Obstacle detection is crucial for the navigation of autonomous mobile robots: it is necessary to ensure their presence as accurately as possible and find their position relative to the robot. Autonomous mobile robots for indoor navigation purposes use several special sensors for various tasks. One such study is localizing the robot in space. In most cases, the LiDAR sensor is employed to solve this problem. In addition, the data from this sensor are critical, as the sensor is directly related to the distance of objects and obstacles surrounding the robot, so LiDAR data can be used for detection. This article is devoted to developing an obstacle detection algorithm based on 2D LiDAR sensor data. We propose a parallelization method to speed up this algorithm while processing big data. The result is an algorithm that finds obstacles and objects with high accuracy and speed: it receives a set of points from the sensor and data about the robot’s movements. It outputs a set of line segments, where each group of such line segments describes an object. The two proposed metrics assessed accuracy, and both averages are high: 86% and 91% for the first and second metrics, respectively. The proposed method is flexible enough to optimize it for a specific configuration of the LiDAR sensor. Four hyperparameters are experimentally found for a given sensor configuration to maximize the correspondence between real and found objects. The work of the proposed algorithm has been carefully tested on simulated and actual data. The authors also investigated the relationship between the selected hyperparameters’ values and the algorithm’s efficiency. Potential applications, limitations, and opportunities for future research are discussed.