Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR

Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR

Environment perception is important for collision-free motion planning of outdoor mobile robots. This paper presents an adaptive obstacle detection method for outdoor mobile robots using a single downward-looking LiDAR sensor. The method begins by extracting line segments from the raw sensor data, a...

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Bibliographic Details
Main Authors: Cong Pang, Xunyu Zhong, Huosheng Hu, Jun Tian, Xiafu Peng, Jianping Zeng
Format: Article
Language:English
Published: MDPI AG 2018-05-01
Series:Sensors
Subjects:
obstacle detection
outdoor mobile robot
LiDAR sensor
line segments
road height and vector
Online Access:http://www.mdpi.com/1424-8220/18/6/1749

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