An Obstacle Detection Algorithm used Sequential Sonar Data for Autonomous Land Vehicle

摘要：

Aiming to the navigation and control of Autonomous Land Vehicle (ALV), a new obstacle detection algorithm is presented, in which sequential sonar data from the sonar sensor pair is combined to improve the accuracy and the robustness. The obstacles’ features, depicted as points or lines, are firstly extracted according to the concentric arcs model of the sonar returns. Then the feature sequences extracted during the movement of ALV, are recognized and localized using a generalized Hough Transform. The algorithm’s validity is approved through a field test.

关键词： autonomous land vehicle sonar sensor object detection Hough transform.

作者: Cui Huihai Liu Shuqiang Zeng Yingsheng

作者单位: College of Mechatronics Engineering and Automation,National University of Defense Technology ,Changsha China

会议类型: 国际会议

会议名称: 2011 10th International Conference on Electronic Measurement & Instruments(第十届电子测量与仪器国际会议 ICEMI2011)

会议地点: 成都

会议语种:英文

页码: 1355-1359

在线出版日期: 2011-08-16（万方平台首次上网日期，不代表论文的发表时间）