激光传感器的机器人障碍物检测研究

Research on obstacle detection of laser sensor

针对传统传感器存在检测精度低、稳定性差等问题,提出了激光传感器的机器人障碍物检测方法。首先采用视觉传感器采集机器人的前方环境信息,对障碍物图像实现分割、二值化操作,并将宽高限制在易辨识范围内,获取障碍物的粗检测结果,然后采用激光传感器收集障碍物数据,得到障碍物有价值范围特征,通过最小距离法得到障碍物左右拐点获取障碍物与机器人的距离信息,完成机器人障碍物的精确检测,最后仿真实验结果表明,该方法可以提高障碍物的检测精度,而且具有较强的鲁棒性。

Aiming at the problems of low precision and poor stability of traditional sensors, a method of obstacle detection based on laser sensor is proposed. First collect the front vehicle information by vision sensor to realize image segmentation and binarization. And obtain the coarse detection results within the width and height restrictions, then get the valuable range feature of the obstacle through the obstacle data collection. Obtain the distance information between obstacle and robot through the minimum distance algorithm to complete accurate detection. Simulation experimental results show that it can improve the detection accuracy and has strong robustness.