2차원 레이저 스캔을 이용한 로봇의 산악 주행 장애물 판단 = Obstacle Classification for Mobile Robot Traversability using 2-dimensional Laser Scanning

다국어 초록 (Multilingual Abstract)

Obstacle detection is much studied by using sensors such as laser, vision, radar and ultrasonic in path planning for UGV(Unmanned Ground Vehicle), but not much reported about its characterization. In this paper not only an obstacle classification method using 2-dimensional LMS(Laser Measurement System) but also a decision making method whether to avoid or traverse the obstacle is proposed. The basic idea of decision making is to classify the characteristics by 2D laser scanned data and intensity data. Roughness features are obtained by range data using a simple linear regression model. The standard deviations of roughness and intensity data are used as measures for decision making by comparing with those of reference data. The obstacle classification and decision making for the UGV can facilitate a short path to the target position and the survivability of the robot.

참고문헌 (Reference)

1 선선구, "무인 차량 탑재형 전방 관측 영상 레이다 가능성 연구" 한국전자파학회 21 (21): 1285-1293, 2010

2 이인수, "대상물 표면특성에 따른 측점군 반사강도 분석" 한국지적정보학회 10 (10): 95-109, 2008

3 Jens Christian Andersena, "Traversable Terrain Classification for Outdoor Autonomous Robots using Single 2D Laser Scans" 13 (13): 2006

4 John Hancock, "Laser Intensity-Based Obstacle Detection and Tracking" Robotics Institute, Carnegie Mellon University 1999

5 Chan-Soo Park, "Characterization of the Hokuyo UBG-04LX-F01 2D Laser Rangefinder" 285-390, 2010