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首页> 外文期刊>Transactions of the ASABE >AN OBSTACLE IDENTIFICATION ALGORITHM FOR A LASER RANGE FINDER-BASED OBSTACLE DETECTOR
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AN OBSTACLE IDENTIFICATION ALGORITHM FOR A LASER RANGE FINDER-BASED OBSTACLE DETECTOR

机译：基于激光测距仪的障碍物检测器的障碍物识别算法

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摘要

The capability of detecting and identifying obstacles on the expected path and taking appropriate collision avoidance actions automatically is critical for safe operation of autonomous agricultural vehicles. This article presents an obstacle detection and identification algorithm for an on-tractor laser range finder-based obstacle detector. This algorithm consists of a template matching function and a Kalman filter for detecting the location of an obstacle, reconstructing the silhouette of the detected obstacle, and estimating its relative motions. Field validation test results verified that this obstacle detector was capable of detecting a moving object within a semicircle of 8 m radius and reconstructing a 2D silhouette of the obstacle progressively in real time. The errors of this obstacle detector in estimating the position, speed, and moving direction of the obstacle relative to the tractor were 0.052 m, 0.11 m s{sup}(-1), and 1.2°, respectively. Such accuracies are sufficient for providing safety warning and collision avoidance for autonomous tractors infield operation.
机译：自动检测和识别预期路径上的障碍物并自动采取适当的避撞措施的能力对于自动驾驶农业车辆的安全运行至关重要。本文提出了一种基于拖拉式激光测距仪的障碍物检测器的障碍物检测和识别算法。该算法由模板匹配函数和卡尔曼滤波器组成，用于检测障碍物的位置，重建检测到的障碍物的轮廓并估计其相对运动。现场验证测试结果证明，该障碍物检测器能够检测到半径为8 m的半圆内的移动物体，并能够实时逐步重建障碍物的2D轮廓。该障碍物检测器在估计障碍物相对于拖拉机的位置，速度和移动方向时的误差分别为0.052 m，0.11 m s {sup（（-1））和1.2°。这样的精确度足以为自动拖拉机的野外作业提供安全警告和避免碰撞。

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