Terrain Obstacle Detection and Analysis using LIDAR
Terrain Obstacle Detection and Analysis using LIDAR
复制标题
使用激光雷达进行地形障碍物检测和分析
DOI：
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发表时间：
2006
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通讯作者：
U. Wong
中科院分区：
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作者：
U. Wong
在行星机器人中，自主性是至关重要的，在行星机器人中，极远的距离和有限的资源可获得性使得连续的遥操作变得不现实。环境障碍是一个根本障碍，因为自然灾害可能会使路径计划无效，从而阻止机器人完成某些任务。在最坏的情况下，它甚至可能导致对机器人的身体伤害。通过允许机器人自动解决大多数障碍，并仅在绝对必要时才需要人工干预，可以节省宝贵的资源。当前的避障方案能够通过寻找像距离梯度这样的特征来轻松地检测大多数单片障碍物。然而，由于很少考虑可通行地形的通行性，许多地形危险被遗漏了。在本文中，我们概述了用于CMU展望项目的月球车障碍物检测系统的开发，以及机器人在月球环境中进行地形分析的一般方法。原型系统利用LIDAR技术作为主要的传感模式，并为患病的LMS 200传感器指定了单自由度致动。从传感器收集的数据被用来分析地形上的障碍物，并生成世界的内部危险表示。然后评估预测的障碍物，并为其分配确定性和威胁值，这将有助于机器人在环境中导航。
Introduction Autonomy is crucial in planetary robotics where extreme distance and limited resource availability make continuous teleoperation impractical. Environmental obstacles represent a fundamental hurdle, as natural hazards may prevent robots from accomplishing certain tasks by invalidating path plans. In the worst-case scenario, it may even result in physical harm to the robot. Valuable resources can be saved by allowing the robot to resolve most obstacles automatically and requiring manual intervention only when absolutely necessary. Current obstacle avoidance schemes are able to detect most monolithic obstacles easily by looking for signatures like the range gradient. However, many terrain hazards are missed because the negotiability of passable terrain is rarely considered. In this paper we outline the development of an obstacle detection system for rovers used in the PROSPECT project at CMU and a general approach to terrain analysis for robots in the lunar environment. The prototype system makes use of LIDAR technology as the primary mode of sensing and specifies a one-DOF actuation for the Sick LMS 200 sensor. Data gathered from the sensor are used to analyze the terrain for obstacles and generate an internal hazard representation of the world. Predicted obstacles are then assessed and assigned a certainty and threat value which will aid the robot in navigating the environment.