The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Obstacle Detection for Unmanned Ground Vehicle on Uneven Terrain

비평지용 무인차량을 위한 장애물 탐지

  • Choe, Tok Son (Dept. of Electrical and Electronic Engineering, Yonsei University) ;
  • Joo, Sang Hyun (5th-2 R&D Institute, Agency for Defense Development) ;
  • Park, Yong Woon (5th-2 R&D Institute, Agency for Defense Development) ;
  • Park, Jin Bae (Dept. of Electrical and Electronic Engineering, Yonsei University)
  • Received : 2015.10.26
  • Accepted : 2016.01.07
  • Published : 2016.02.01
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Abstract

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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References

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