Mobile robot path planning using a laser range finder for environments with transparent obstacles

Jin Woo Jung, Jung Soo Park, Tae Won Kang, Jin Gu Kang, Hyun Wook Kang

Research output: Contribution to journalArticlepeer-review

15 Scopus citations

Abstract

Environment maps must first be g+enerated to drive mobile robots automatically. Path planning is performed based on the information given in an environment map. Various types of sensors, such as ultrasonic and laser sensors, are used by mobile robots to acquire data on its surrounding environment. Among these, the laser sensor, which has the property of being able to go straight and high accuracy, is used most often. However, the beams from laser sensors are refracted and reflected when it meets a transparent obstacle, thus g+enerating noise. Therefore, in this paper, a state-of-the-art algorithm was proposed to detect transparent obstacles by analyzing the pattern of the reflected noise g+enerated when a laser meets a transparent obstacle. The experiment was carried out using the environment map g+enerated by the aforementioned method and gave results demonstrating that the robot could avoid transparent obstacles while it was moving towards the destination.

Original languageEnglish
Article number2799
JournalApplied Sciences (Switzerland)
Volume10
Issue number8
DOIs
StatePublished - 1 Apr 2020

Keywords

  • Laser rang+e finder
  • Mobile robot
  • Path planning
  • Reflection noise
  • Transparent obstacle recognition

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