具有单一二维激光扫描仪的滑动驾驶车辆的移动障碍物检测

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241565

K. Kyriakopoulos, Nikos Skounakis

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引用次数: 10

摘要

我们提出了一种方法，同时提供了滑行移动机器人的自运动估计和检测移动障碍物估计其速度，完全基于激光扫描仪测量。我们假设一个线性段的环境，因为车辆是打滑的，我们不使用它的编码器读数。讨论了约束条件/假设，并给出了大量的实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Moving obstacle detection for a skid-steered vehicle endowed with a single 2-D laser scanner

We present a methodology that simultaneously provides estimates of the self-motion of a skid-steered mobile robot and detects a moving obstacle estimating its velocity, exclusively based on laser scanner measurements. We assume an environment of linear segments and since the vehicle is skid-steered we make no use of its encoder readings. The constraints/assumptions are discussed and extensive experimental results are presented.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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