Obstacle Detection for Unmanned Ground Vehicle on Uneven and Dusty Environment

An obstacle detection method for unmanned ground vehicle in outdoor environment is proposed. The proposed method uses range data acquired by laser range finders (LRFs) and FMCW radars. LRFs and FMCW radars are used for distinguishing ground and obstacles on uneven terrain, and for detecting obstacles in dusty environment. The proposed obstacle detection algorithm is broadly composed of three steps: 1) 1D virtual range data generation which ground information is removed by range data of LRFs, 2) 1D virtual range data generation acquired by fusion of multiple FMCW radars, 3) 1D virtual range data generation which dust information is removed by fusion of step 1) and step 2). The proposed method is verified by real experiments.