越野环境下基于四线激光雷达的障碍检测

为了完成越野环境中无人自主导航车的障碍检测任务，应用四线激光雷达，提出了1种新的障碍检测算法，该算法利用检测区域的坡度信息进行障碍检测，包括坐标变换、候选障碍点提取、候选障碍点聚类及点簇高度求取4个步骤。为了克服激光雷达检测盲区与抑止测量过程中干扰噪声的影响，运用了卡尔曼滤波算法对目标障碍进行了滤波处理。试验结果表明，障碍检测算法稳定可靠。

Obstacle Detection Based on a Four-layer Laser Radar in Cross-country

In order to obtain obstacle information in a cross-country environment for an autonomous land vehicle (ALV), a novel obstacle detection algorithm is proposed by using a four-layer laser radar LD_ML. The obstacle detection algorithm achieves the obstacle detection task by the gradient information of detection regions in four steps: (1) changing scanning points' coordinate system from the LD_ML to the ALV; (2) extracting candidate obstacles points from LD_ML range data; (3) clustering the candidate obstacle points; (4) obtaining the height information of candidate obstacle clustering. To overcome the blind detecting areas and the measurement noise of the LD_ML, Kal-man filtering technology is used to estimate the position of obstacles and to track the obstacles. The experimental results show that the obstacle detection algorithm is reliable and robust.