Detection and Navigation of Unmanned Vehicles in Wooded Environments Using Light Detection and Ranging Sensors

Abstract

With the advancement of automatic navigation, navigation control has become an indispensable core technology in the movement of unmanned vehicles. In particular, research on navigation control in outdoor wooded environments, which are more complex, less controlled, and more unpredictable than indoor environments, has received widespread attention. To realize the movement control and obstacle avoidance of unmanned vehicles in unknown environments, in this study, we use light detection and ranging (LiDAR) sensors to sense the surrounding environment. By plane meshing the point cloud reflected from LiDAR, we can instantly establish feasible regions. At the same time, using the artificial potential field algorithm, a stable obstacle avoidance and navigation path is planned for use in an unknown environment. In an actual woods navigation experiment to evaluate our proposed LiDAR detection method, we used an independently developed unmanned vehicle with Ackermann steering geometry. Experimental results indicate that the proposed method can effectively detect obstacles. The accuracy requirement is within 30 cm from the navigation target, and the experimental results show that the average navigation success rate of the proposed method is as high as 85%. The experimental results demonstrate that the system can stably and safely navigate in scenarios with different unknown environments.