LiDAR Based Obstacle detection for Snow Groomers

被引：2

作者：

Onesto, L. ^{[1
]}

Corno, M. ^{[1
]}

Franceschetti, L. ^{[1
]}

Hokka, E. ^{[2
]}

Savaresi, S. M. ^{[1
]}

机构：

[1] Politecn Milan, Dipartimento Elettron Informaz & Bioingn, Via G Ponzio 34-5, I-20133 Milan, Italy

[2] TTControl GmbH Ensuring Reliable Networks FN 246, Handelsgericht Wien, Vienna, Austria

来源：

IFAC PAPERSONLINE | 2020年 / 53卷 / 02期

关键词：

Robot navigation; Estimation Algorithms; Navigation system; Obstacle detection; INJURIES;

D O I：

10.1016/j.ifacol.2020.12.2370

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an obstacle detection system for snow groomers. The system is based on a 2D solid-states LiDAR sensor mounted on the top of the cabin. The measurements describe the surrounding environment through an Occupancy Grid framework, which is extended for this particular case study. The proposed approach set the occupancy probability of the surrounding environment based on the expected height of the obstacle. The method is extensively analyzed through experimental test on a snow groomer. Copyright (C) 2020 The Authors.

引用

页码：15469 / 15474

页数：6

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