Obstacle Avoidance Using Extremities
Herlea Alexandru-Emil · 2023
This paper presents a Lidar-based algorithm for path planning by simplifying the point cloud into a series of polylines that describes obstacles without the utilization of a map. Using the newly defined obstacles the algorithm will try to find a path that can avoid the extreme points of the obstacle in an optimal manner. The algorithm was only tested using a 2D-lidar, and 2D pointcloud, but it's possible to be used on a 3D-lidar scanner if the 3D pointcloud is transformed into a 2D pointcloud. The test runs with the algorithm yield an overall positive outcomes.