Title :
Obstacle Detection and Road Following using Laser Scanner
Author :
Xu, Zezhong ; Zhuang, Yanbin ; Chen, Huahua
Author_Institution :
Sch. of Comput. Sci., Hangzhou Dianzi Univ.
Abstract :
Obstacle detection and road following are two foundational abilities in ALV autonomous navigation. Vision based method is not robust to different weather, illuminance, road surface condition. In this paper we use a laser rangefinder with four layers to implement obstacle detection and road following in outdoor environment. Obstacle detection is based on stochastic density of spatial scanning points. It can efficiently detect and track the artificial and natural obstacles. Road boundaries are modeled with two lines. A filter method is employed to track the parameters of road boundaries. Proposed method can perform the obstacle detection and road following simultaneously in day and night. It is free of shadow, bright spot and dirty road surface and more robust than vision based methods. All these techniques have been implemented on our ALV equipped with IBEO laser scanner
Keywords :
collision avoidance; edge detection; laser ranging; mobile robots; object detection; stochastic processes; IBEO laser scanner; autonomous land vehicle; autonomous navigation; laser rangefinder; obstacle detection; road boundaries; road following; spatial scanning points; stochastic density; Cameras; Computer science; Laser modes; Laser theory; Navigation; Optical attenuators; Roads; Robustness; Stereo vision; Stochastic processes; Obstacle detection; Road following; laser scanner;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713665
