Study on obstacle detection based on laser range finder

摘要

To navigate accurately and effectively in the dynamic environment,obstacle detection is proposed by using laser range finder.Firstly,the grid map is built by using laser range finder in the local environment of the robot,and then the obstacles are detected in this grid map.Aimed at the two frame images in continuous change time t-1 and t,obstacle is segmented in polar coordinate system.The obstacle chains Object_List(t-1) and Object_List(t) are built according to the obstacle segment results.The characteristic parameters of the obstacle in obstacle chains are computed,and then obstacle matching and classification are conducted.If there are dynamic obstacles,the corresponding motion parameters will be estimated and dynamic obstacle set Dob(N) will be renewed.The proposed arithmetic is simulated by using visual C++,and the simulation results show that this method is feasible and effective.