Detection of dynamic obstacles for mobile robot with laser scanner
Jinxia Yu · Optical Technique · 2008
Detection of moving objects under dynamic environments is a difficult problem in mobile robot research.Considering the unknown environment as research background,an autonomous detection method of dynamic obstacles based on laser scanner is presented.The k-nearest neighbor approach is adopted to realize the spatial clustering of obstacles according to the ranging data of laser scanner.The characteristic parameters of clustering obstacles such as area and centroid are analyzed.With the analysis of time association,the types of obstacles are determinated.In order to update the environmental map,the map matching strategy using fuzzy logic is utilized.Experiments with the mobile robot are implemented.The experimental result verifies the validity of this approach.