| Title |
Obstacle Detection for Unmanned Ground Vehicle on Uneven Terrain |
| Authors |
최덕선(Choe, Tok Son) ; 주상현(Joo, Sang Hyun) ; 박용운(Park, Yong Woon) ; 박진배(Park, Jin Bae) |
| DOI |
https://doi.org/10.5370/KIEE.2016.65.2.342 |
| Keywords |
Obstacle detection ; Unmanned ground vehicle ; Uneven terrain |
| 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. |