Obstacle Detection for Unmanned Ground Vehicle on Uneven Terrain

비평지용 무인차량을 위한 장애물 탐지

Choe, Tok Son;Joo, Sang Hyun;Park, Yong Woon;Park, Jin Bae

  • Received : 2015.10.26
  • Accepted : 2016.01.07
  • Published : 2016.02.01


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.


Obstacle detection;Unmanned ground vehicle;Uneven terrain


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Grant : 단위로봇 경로계획/제어기술(자율주행 7레벨)

Supported by : 국방과학연구소, LIG Nex1