Obstacle Circumnavigation System Based on Lidar Sensing

Abstract

With the development of artificial intelligence, autonomous driving has made remarkable achievements, promoting the rapid transformation and upgrading of the traditional automobile industry, which is the development trend of the future automobile. However, in the actual road test, how to detect obstacles and how to avoid obstacles safely and effectively is still an urgent problem to be solved. In view of this problem, this paper proposes a perceptual obstacle circumnavigation system composed of perception, decision-making and planning. The sensing system detects obstacles by lidar, the decision-making system judges the types of obstacles and how to deal with them, and the planning system plans the corresponding safe and effective path around obstacles according to the decision results.