Full Text:   <1360>

CLC number: TP242.6

On-line Access: 

Received: 2000-10-21

Revision Accepted: 2001-03-08

Crosschecked: 0000-00-00

Cited: 0

Clicked: 2829

Citations:  Bibtex RefMan EndNote GB/T7714

-   Go to

Article info.
1. Reference List
Open peer comments

Bio-Design and Manufacturing  2019 Vol.2 No.4 P.388~394

10.1631/jzus.2001.0388


OBSTACLE DETECTION BY ALV USING TWO 2D LASER RANGE FINDERS


Author(s):  XIANG Zhi-yu, LIU Ji-lin, GU Wei-kang, TIAN Yuan

Affiliation(s):  Department of Information and Electronic Engineering, Zhejiang University, Hangzhou 310027, China

Corresponding email(s): 

Key Words:  obstacle detection, obstacle avoidance, 2D laser range finder, Kalman Filter, autonomous land vehicle(ALV)


Share this article to: More

XIANG Zhi-yu, LIU Ji-lin, GU Wei-kang, TIAN Yuan. OBSTACLE DETECTION BY ALV USING TWO 2D LASER RANGE FINDERS[J]. Journal of Zhejiang University Science D, 2019, 2(4): 388~394.

@article{title="OBSTACLE DETECTION BY ALV USING TWO 2D LASER RANGE FINDERS",
author="XIANG Zhi-yu, LIU Ji-lin, GU Wei-kang, TIAN Yuan",
journal="Journal of Zhejiang University Science D",
volume="2",
number="4",
pages="388~394",
year="2019",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2001.0388"
}

%0 Journal Article
%T OBSTACLE DETECTION BY ALV USING TWO 2D LASER RANGE FINDERS
%A XIANG Zhi-yu
%A LIU Ji-lin
%A GU Wei-kang
%A TIAN Yuan
%J Journal of Zhejiang University SCIENCE D
%V 2
%N 4
%P 388~394
%@ 1869-1951
%D 2019
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2001.0388

TY - JOUR
T1 - OBSTACLE DETECTION BY ALV USING TWO 2D LASER RANGE FINDERS
A1 - XIANG Zhi-yu
A1 - LIU Ji-lin
A1 - GU Wei-kang
A1 - TIAN Yuan
J0 - Journal of Zhejiang University Science D
VL - 2
IS - 4
SP - 388
EP - 394
%@ 1869-1951
Y1 - 2019
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2001.0388


Abstract: 
This paper describes an effective method of obstacle detection by ALV (Autonomous Land Vehicle) equipped with two 2D laser range finders (LRF) installed at different locations of the ALV to obtain comprehensive information on the environment. The data processing includes two main steps: (1) data-processing of the current sample; (2) fusion of the former range data and the current one. The rough description of the ALV's environnent via the four sub-steps (Data Filter, Obstacle Extraction, Obstacle Merging, Distinguishing Obstacle from Road-Edge) was not reliable enough for our control system. To overcome the shortcoming of the 2D LRF and the motion noise of the ALV, a kalman Filter was used to estimate the position of the obstacles; then the data of the two LRFs were collated to obtain the height and width of the obstacles. Experiment results attested the feasibility of the detection system.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1] Bonlanger, P., 1992. Range Image Segmentation, Free Space Determination, and Position Estimation for a Mobile Vehicle. Proceedings of SPIE Vol. 1831: Mobile Robots VII, 444-455.

[2] Dunlay, R. Terry, 1986. Obstacle Avoidance on Aoadways using Range Data. SPIE vol.727: Mobil Robots, p.110-116.

[3] Gonzales,J., Stentz,A., Ollero,A., 1992. An Iconic Position Estimator for a 2D Laser Range Finder. Proceedings of the IEEE Intemational Conference on Robotics and Automation, p.2646-2651.

[4] Gonzalez,J., Ollero, A., Reina, A., 1994. Map Building for a Mobile Robot equipped with a 2D Laser Rangefinder. Proceedings of the IEEE Intemational Conference on Robotics and Automation, p.1904-1909.

[5] Herbert, M., Kanade T., 1986. Outdoor Scene Analysis using Range data. Proceedings of the IEEE Intemational Conference on Robotics and Automation, p.1426-1432.

[6] Kwon, D. Young, Lee, S. Jin, 1997. A Stochastic Environment Modelling Method for Mobile Robot by using 2-D Laser Scanner. Proceedings of the IEEE Intemational Conference on Robotics and Automation, p.1688-1693.

[7] Mashavan, R., Dissanayake, G., Durrant-Whyte, H., 1998. Map-Building and Map-Based Localization in an Underground-mine by Statistical Pattem Matching. Proceedings of the IEEE International Conference on Robotics and Automation, p.1744-1746.

[8] Vandorpe,J., Van Brussel,H., Xu, H., 1996. Exact Dynamic Map Building for a Mobile Robot Using Geometrical Primitives Produced by a 2D Range Finder. Proceedings of the IEEE International Conference on Robotics and Automation, p.901-908.

[9] Ying Bishan, Liu Jilin, Gu Weikang, 1998. Algorithm and Parallel Implememation of 3D Vision Understanding in ALV, Journal of Zhejiang University (Natural Science),33(3):305-311.

[10] Zhang Qi, Liu Jilin, Guo Xiaojun et al., 1997. Application of 3D Laser Range Finder: Problems and Solution, Journal of Zhejiang University (Natural Science), 32(6):732-738.

Open peer comments: Debate/Discuss/Question/Opinion

<1>

Please provide your name, email address and a comment





Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - Journal of Zhejiang University-SCIENCE