基于激光雷达的移动机器人障碍测距研究

Study on obstacles detection of mobile robot based on laser scanner

障碍距离检测是移动机器人导航的关键问题之一。为了实现精确实时的障碍检测,针对某二维TOF激光雷达,对其数据标定、物体表面的属性、混合像素等因素进行试验,评估了其测距性能。同时,通过移动机器人运行过程中激光雷达的测距数据分析,设计了动态自适应滤波器以消除障碍检测中的测距噪声干扰。运行过程中的障碍检测试验表明:该方法可以实现可靠的障碍检测,并为移动机器人导航中环境建模、自定位及路径规划提供支持。

Range measurement of obstacles is a crucial problem for the navigation of mobile robot. In order to realize the accurate and real-time obstacles detection, ranging performance of a 2-D laser scanner is estimated by the experiments of data alignment, target surface property, mixed pixel and so on. At the same time, a dynamic adaptive filter is designed to reduce the noisy disturbance in range measurement of obstacles by analyzing the ranging data of laser scanner in the robot motion. The experiment of obstacles detection in robot motion indicates that it can realize the reliable obstacles detection and provide the support for environment mapping, selflocalization and path planning in the navigation of mobile robot.