Obstacle Detection and Avoidance Algorithm for Autonomous Mobile Robot using 2D LiDAR

摘要

The autonomous mobile robot play vital role in military applications and can perform difficult and dangerous tasks like neutralizing explosives, walking through minefields, rescue life of soldiers in risky situations. The advancement of research in field of autonomous robot needs higher degree of automacy and is more challenging in unknown terrain. The implementation of system requires extortionate perception of its surroundings to safely navigate in an unstructured environment. So, accurate Obstacle Detection and Avoidance technique is prime focus in field of mobile robot. This paper proposes efficient obstacle detection and avoidance model based on 2D LiDAR for autonomous mobile robot. The proposed method extracts spatial information from laser point-cloud using segmentation and clustering methods. The Convex hull algorithm is utilized to identify accurate geometrical structure of obstacle. This method also generates forward orientation angle using principal of optimal cost function and visibility graph path planning method is employed to establish optimal route to destination. The proposed obstacle detection and avoidance method utilized simple mathematical model and efficiently achieved good real time performance. The reliability of proposed model is tested on MATLAB simulation platform.