Obstacle Detection and Detour System Using Line Laser and Camera

Abstract

This paper develops a system that can easily and widely detect and avoid obstacles with one system by using a line laser and a camera. In order to use the automatic guided vehicle safely indoors, it is necessary to detect obstacles and avoid collisions. Therefore, we installed a line laser and a camera on the mobile robot to verify the accuracy of the system that detects and avoids obstacles. Conventional automatic guided vehicles include a method of detecting using a plurality of sensors and a method of detecting using LiDAR. However, these have problems that they are easily affected by disturbance and that the sensor itself is expensive and impractical. In this study, by using a line laser and a camera, it is possible to detect easily and widely with one system.