Publisher : The Korean Institute of Electrical Engineers
DOI : 10.5370/KIEE.2016.65.2.342
Title & Authors
Obstacle Detection for Unmanned Ground Vehicle on Uneven Terrain Choe, Tok Son; Joo, Sang Hyun; Park, Yong Woon; Park, Jin Bae;
We propose an obstacle detection algorithm for unmanned ground vehicle on uneven terrain. The key ideas of the proposed algorithm are the use of two-layer laser range data to calculate the gradient of a target, which is characterized as either ground or obstacles. The proposed obstacle detection algorithm includes 4-steps: 1) Obtain the distance data for each angle from multiple lidars or a multi-layer scan lidar. 2) Calcualate the gradient for each angle of the uneven terrain. 3) Determine ground or obstacle for each angle on the basis of reference gradient. 4) Generate a new distance data for each angle for a virtual laser scanner. The proposed algorithm is verified by various experiments.
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