Study on obstacles detection of mobile robot based on laser scanner

摘要

Range measurement of obstacles is a crucial problem for the navigation of mobile robot.In order to realize the accurate and real-time obstacles detection,ranging performance of a 2-D laser scanner is estimated by the experiments of data alignment,target surface property,mixed pixel and so on.At the same time,a dynamic adaptive filter is designed to reduce the noisy disturbance in range measurement of obstacles by analyzing the ranging data of laser scanner in the robot motion.The experiment of obstacles detection in robot motion indicates that it can realize the reliable obstacles detection and provide the support for environment mapping,self-localization and path planning in the navigation of mobile robot.