Environment feature recognition algorithm for rescue robot based on a 2D laser radar

摘要

It is very important for mobile robot to recognize the surrounding 3D environment in a unknown workspace. This paper proposes a 2D laser radar based 3D environment feature recognition algorithm which is applied to a novel rescue robot with wireless control system. It is used to help rescue robot to avoid obstacles in complex unstructured environment. Firstly, a multi-linked tracked robot platform and the features of control system are introduced. Reliable structure and control system ensure the stability of robot. Then the algorithm of 2D laser radar based 3D environment feature recognition is introduced. It makes a good use of the advantage of the laser radar, and this algorithm can effectively identify the area where there is no obstacle by a simple and fast way. Finally, the communication performance of the control system and the stability and accuracy of this feature recognition algorithm is verified by experiment.