Guidance and safety systems for mobile robots

摘要

The paper presents a guidance and safety system for mobile robots based on two sensors: Camera and LiDAR. This solution proposes the data fusion approach for a more robust and better obstacle detection. Both sensors, LiDAR and camera, have advantages and disadvantages. The aim of the fusion is to increase the quality of the obstacle detection by using the benefits of each sensor. The dataset obtained from the sensors is processed in order to implement the functionalities. Also, this paper proposes an architecture which is structured into levels and implemented with ROS so that the project is being distributed and modular.