复杂环境下基于多层激光雷达的障碍检测

Multi-layer laser radar obstacle detection in complicated environment

为了完成复杂环境中无人自主导航车的障碍检测任务,应用四线激光雷达,提出了一种新的障碍检测算法,该算法利用检测区域的坡度信息进行障碍检测,包括候选障碍点的提取、干扰点的滤除及障碍点的聚类分割三个步骤。为了克服激光雷达检测盲区与抑止测量过程中干扰噪声的影响,运用了卡尔曼滤波算法对目标障碍进行了滤波处理。试验结果表明,障碍检测算法稳定可靠。

To obtain obstacle information in complicated environment for an autonomous land vehicle （ALV）, a novel obstacle detection algorithm is proposed by using a multi-layer laser radar LD_ML. The obstacle detection algorithm includes three steps to achieve the obstacle detection task by the gradient information of detection regions： extracting the candidate obstacles points from range data, eliminating the non-obstacle scanning points and making the obstacle points clustering. To overcome the blind detecting areas and the measurement noise of the LD_ML, Kalman filtering technology is used to estimate the position of obstacles and tracking the obstacles. The experiment results show that the obstacle detection algorithm is reliable and robust.