Detection of Moving Obstacles for Mobile Robot Using Laser Sensor

被引：0

作者：

Zhong Xunyu ^{[1
]}

Peng Xiafu ^{[1
]}

Zhou Jiehua ^{[1
]}

机构：

[1] Xiamen Univ, Xiamen 361005, Peoples R China

来源：

2011 30TH CHINESE CONTROL CONFERENCE (CCC) | 2011年

关键词：

Mobile Robot; Moving Obstacle; Laser Sensor; Detection;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Detection of moving obstacles is a difficult problem of mobile robot navigation. Considering the dynamic unknown environments as research background, an autonomous detection method of moving obstacles based on laser sensor is presented. The polar-coordinates-based nearest neighbor approach is adopted to realize the spatial clustering of obstacles according to the ranging data of laser sensor. The characteristic parameters of clustering obstacles are analyzed. With the analysis of time association, the matching and classification algorithms of obstacles are designed. Finally, using a circular "puffing" method to update the parameters of moving obstacles. Simulation results show the effectiveness of the method.

引用

页码：4002 / 4006

页数：5