基于激光测距雷达和车载GPS的动态障碍物检测

Dynamic obstacles detection based on laser ranging radar and GPS in-car

动态障碍物检测问题一直是移动机器人的研究热点之一,也是机器人实现安全可靠导航的前提。该文提出了一种在道路环境下进行动态障碍物实时检测的方法,采用激光雷达和车载GPS 2种传感器,激光雷达实时地获取连续2帧的数据,连续2帧间无人车的航向角度和位置信息,通过车载GPS实时获取。通过对2帧数据的对比分析,进行潜在动态障碍物的判定,然后进行连续2帧之间潜在动态障碍物的匹配,区分出2帧中同时存在的动态障碍物,并计算其运动矢量,最后给出预测区域。实验结果验证了算法的有效性,对无人车提前避让动态障碍具有一定的意义。

Dynamic obstacle detection has been the research focus of the mobile robot, is a prerequi- site to achieve safe and reliable navigation for the robot. A real - time detection method of dynamic ob- structions in the road environment is presented. Two types of sensors, laser radar and GPS in - car, are used to detect the dynamic obstructions. Laser radar is used to obtain two continuous frames data and GPS in - car is used to attain heading angle and location information of unmanned vehicle between the ob- tained two frames. Matching the two frames data to find the co - exist obstructions and calculating the moving orientation can give a forecast area. The experimental results verified effectiveness of the algo- rithm and demonstrate that the method is meaningful with a certain sense of unmanned vehicles in ad- vance to avoid dynamic obstructions.