基于摆动式单线激光雷达的障碍物检测算法

基于无急回摆动机构,实现了单线激光雷达对周围区域环境的实时感知与建图。为了准确地检测障碍物,在讨论了摆动机构的安装标定及扫描帧与角度编码器对准方法的基础上,采用了一种生成可通行性代价地图(costmap)的算法。该算法以2-D栅格模型方式,通过综合高程信息、测量值个数、扫描帧个数和测量时间等信息,得到各栅格单元的代价值,生成一张关于环境可通行性代价地图。实车验证结果表明:基于该算法得到的地图能够较好地描述环境的可通行性,实现了对环境的实时感知。

An Obstacle Detection Algorithm Based on the Oscillating Single Scan LIDAR

A single scan LIDAR,which oscillates up and down with the unbiased crank-rocker mechanism,is used to perceive and map the environment in real time.To detect obstacles precisely,after the introduction of how to calibrate the installation parameters and how to correlate the scan and tilt angle,an algorithm of the passable cost map is introduced.The cost map algorithm based on the 2-D occupancy grid is discussed in detail with considering several information,such as the elevation,the number of measurements,and...