Laser-Based Obstacle Avoidance and Road Quality Detection for Autonomous Bicycles
This paper presents a novel design and implementation approach for a laser range sensor(LRS)-based obstacle avoidance and road quality detection system specifically created to be used onboard an autonomous bicycle.The system uses the measurements from a single LSR to detect dynamic obstacles inside the bicycles environment and avoid the ones whose paths intersect with its own.The LSRs mechanical base and rotating mechanism were specially designed to fit the lightweight structure of the bicycle and a specific rotation pattern on the bicycles sagittal plane was created to maximize sensing efficiency.The RANSAC Line Detection algorithm is applied to detect the ground line,assess the road surface quality,and avoid bumps or holes on the bicycle path.Our experimental results show promising bicycle behavior and reliable obstacle avoidance at different speeds.
Laser range sensor(LRS) Obstacle avoidance Road surface quality RANSAC Autonomous bicycle
Sotirios Stasinopoulos Mingguo Zhao
Robot Control Laboratory,Department of Automation,Tsinghua University,Beijing,China
国际会议
The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)
福州
英文
215-223
2015-05-08（万方平台首次上网日期，不代表论文的发表时间）