Lidar Measurement Analysis for Detection of Down-Curbs and Up-Curbs

被引：0

作者：

Lee, Minyoung ^{[1
]}

Cha, Moo Hyun ^{[1
]}

Lee, Hanmin ^{[1
]}

Lee, Sooyong ^{[2
]}

机构：

[1] Department of Smart Machine Technology, Korea Institute of Machinery and Materials, Korea, Republic of

[2] Department of Mechanical and System Design Engineering, Hongik University, Korea, Republic of

来源：

Journal of Institute of Control, Robotics and Systems | 2023年 / 29卷 / 02期

关键词：

Beverages - Mobile robots - Navigation - Pavements;

D O I：

10.5302/J.ICROS.2023.22.0197

中图分类号：

学科分类号：

摘要：

Autonomous mobile robots are widely used for delivering food, drinks, and small goods. Because of their mobility, unmanned mobile robots can move on roads, sidewalks, and crosswalks. Even though most of them are paved and structured (indoor and outdoor), in contrast to uneven terrain, common obstacles are up-curbs and down-curbs. Small tires are used for such robots; it is essential to identify the curbs and to determine whether the robot can proceed. In this paper, the minimum heights for safe travel over down-curb and up-curb are derived based on the geometric analysis. Lidar information is only analyzed based on the distance readings rather than using a point cloud’s coordinates values. The precision of the sensor and the road flatness are considered in identifying the curb with a recursive estimation of the flatness. This study presents an essential function for an autonomous mobile robot to complete safe movement. © ICROS 2023.

引用

页码：126 / 134

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