To navigate accurately and effectively in the dynamic environment, obstacle detection is proposed by using laser range finder. Firstly, the grid map is built by using laser range finder in the local environment of the robot, and then the obstacles are detected in this grid map. Aimed at the two frame images in continuous change time t-1 and t, obstacle is segmented in polar coordinate system. The obstacle chains Object _ List (t-1) and Object _ List (t) are built according to the obstacle segment results. The characteristic parameters of the obstacle in obstacle chains are computed, and then obstacle matching and classification are conducted. If there are dynamic obstacles, the corresponding motion parameters will be estimated and dynamic obstacle set Dob (N) will be renewed. The proposed arithmetic is simulated by using visual C++, and the simulation results show that this method is feasible and effective.%为了进行准确和有效的导航,提出了利用机器人的车载激光测距仪来检测环境中的障碍物.利用激光测距仪对机器人的局部环境建立栅格地图,在该模型下对障碍物进行检测.针对连续变化时刻(t-1)和(t)下的两帧“图像”,在极坐标系中进行障碍物分割,根据分割结果建立障碍物链Object_ List (t-1)和Object_ List (t),计算出各特征参数,并作进一步的匹配和分类分析.如果存在动态障碍物,估计出相应的运动参数,更新得到t时刻的动态障碍物集Dob (N).为了验证算法的有效性,利用visual C++进行仿真,仿真实验结果表明,该方法进行环境中的动静态障碍物的检测是可行的和有效的.
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