Obstacle Detection using Laser Scanner and Vision System for Path Planning on Autonomous Mobile Agents
Jingu Jeong, Suk-Kyo Hong, Dongkyoung Chwa · The Transactions of The Korean Institute of Electrical Engineers · 2008
This paper proposes object detection algorithm using laser scanner and vision system for the path planning of autonomous mobile agents. As the scanner-based method can observe the obstacles in only two dimensions, it is hard to detect the shape and the number of obstacles. On the other hand, vision-based method is sensitive to the environment and has its difficulty in the accurate distance measurement. Thus, we combine these two methods based on K-means algorithm such that the obstacle avoidance and optimal path planning of autonomous mobile agents can be achieved.