一种适应凹障碍检测的激光雷达布局研究Study on lidar layout suitable for concave obstacle detection
张英,李擎,张昊
摘要(Abstract)：
无人驾驶车的障碍识别是移动机器人自主导航的关键技术之一,一直是国内外各大学、机构的研究重点。现阶段,国内外对凸障碍的识别已经做了很多工作,但针对非结构化环境下的凹障碍的检测却少有研究。针对非结构化环境的凹型障碍物检测问题,基于16线三维激光雷达,提出新的激光雷达布局方法以缩小无人车前盲区,及时检测到凹障碍,并分析凹型障碍物的特征。通过实验,验证了新激光雷达的布局可以有效地检测到野外的凹型障碍物。
关键词(KeyWords)： 无人驾驶车;非结构化环境;凹型障碍物;激光雷达布局;车前盲区;障碍物特征
基金项目(Foundation): 国家自然科学基金(61471046);; 北京市自然科学基金(4172022);; 北京市科技计划课题(Z161100003016011)~~
作者(Author): 张英,李擎,张昊
DOI: 10.16652/j.issn.1004-373x.2018.21.032
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