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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2001, Vol. 2 Issue (4): 388-394    DOI: 10.1631/jzus.2001.0388
Engineering Sciences     
OBSTACLE DETECTION BY ALV USING TWO 2D LASER RANGE FINDERS
XIANG Zhi-yu, LIU Ji-lin, GU Wei-kang, TIAN Yuan
Department of Information and Electronic Engineering, Zhejiang University, Hangzhou 310027, China
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Abstract  This paper describes an effective method of obstacle detection by ALV (Autonomous Land Vehicle) equipped with two 2D laser range finders (LRF) installed at different locations of the ALV to obtain comprehensive information on the environment. The data processing includes two main steps: (1) data-processing of the current sample; (2) fusion of the former range data and the current one. The rough description of the ALV\'s environnent via the four sub-steps (Data Filter, Obstacle Extraction, Obstacle Merging, Distinguishing Obstacle from Road-Edge) was not reliable enough for our control system. To overcome the shortcoming of the 2D LRF and the motion noise of the ALV, a Kalman filter was used to estimate the position of the obstacles; then the data of the two LRFs were collated to obtain the height and width of the obstacles. Experiment results attested the feasibility of the detection system.

Key words： obstacle detection      obstacle avoidance      2D laser range finder      Kalman Filter      autonomous land vehicle(ALV)     
Received: 21 October 2000     
CLC:  TP242.6  
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LIU Ji-lin
XIANG Zhi-yu
GU Wei-kang
TIAN Yuan
Cite this article:

XIANG Zhi-yu, LIU Ji-lin, GU Wei-kang, TIAN Yuan. OBSTACLE DETECTION BY ALV USING TWO 2D LASER RANGE FINDERS. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2001, 2(4): 388-394.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.2001.0388     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2001/V2/I4/388

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