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Obstacle Detection and Obstacle Avoidance Algorithm based on 2-D RPLiDAR

机译：基于二维RPLiDAR的障碍物检测与避障算法

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Obstacle Detection and Obstacle Avoidance are vital technologies for autonomous navigation of vehicles. A number of sensor technologies have been used before to perform obstacle detection and obstacle avoidance. One kind of such sensor is a 2- D lidar sensor renowned for its accuracy in measuring distances. This research involves usage of low cost 2-D lidar system from Slamtech for obstacle detection and avoidance. This paper proposes an efficient algorithm for the implementation of obstacle detection and avoidance using 2-D lidar. A method is proposed as to how to get the data from the lidar sensor and also an algorithm is designed to get the information of obstacles by filtering, clustering technique. A systematic approach is used to avoid obstacles on the principle of minimum cost function. The efficacy of the algorithm implemented is verified using MATLAB simulation platform.
机译：障碍物检测和避障是车辆自动导航的重要技术。在执行障碍物检测和避障之前，已经使用了许多传感器技术。一种这样的传感器是2-D激光雷达传感器，其以测量距离的准确性而闻名。这项研究涉及使用Slamtech的低成本2-D激光雷达系统来检测和避免障碍物。本文提出了一种使用二维激光雷达实现障碍物检测和回避的有效算法。提出了一种从激光雷达传感器获取数据的方法，并设计了一种通过滤波，聚类技术获取障碍物信息的算法。一种系统的方法被用来避免在最小成本函数原理上的障碍。使用MATLAB仿真平台验证了所实现算法的有效性。

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