Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Obstacle Detection and Classification Algorithm of Mobile Robots using a Single Laser Scanner

단일 레이저 스캐너를 이용한 모바일 로봇의 장애물 탐색 및 분리 알고리즘

  • Lee, Gi-Roung (Department of Electronic Engineering, Ajou University) ;
  • Chwa, Dong-Kyoung (Department of Electronic Engineering, Ajou University) ;
  • Hong, Suk-Kyo (Department of Electronic Engineering, Ajou University)
  • 이기룡 (아주대학교 전자공학부) ;
  • 좌동경 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부)
  • Published : 2007.10.26
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Abstract

This paper proposes obstacle detection and classification algorithm using a single laser scanner. The proposed algorithm searches the object singular points using a differential equation, and finds obstacle singular points shows a boundary of obstacle. And the proposed algorithm can classify object even if several obstacles overlapped. Simulation results show the feasibility of proposed algorithm using a single laser scanner, not using several laser scanners.

Keywords