A Method for Detecting Dynamic Objects Using 2D LiDAR Based on Scan Matching

Michal Mihálik; Marian Hruboš; Peter Vestenický; Peter Holečko; Dušan Nemec; Branislav Malobický; Ján Mihálik

doi:10.3390/app12115641

Applied Sciences (Jun 2022)

A Method for Detecting Dynamic Objects Using 2D LiDAR Based on Scan Matching

Michal Mihálik,
Marian Hruboš,
Peter Vestenický,
Peter Holečko,
Dušan Nemec,
Branislav Malobický,
Ján Mihálik

Affiliations

Michal Mihálik: Department of Control and Information Systems, Faculty of Electrical Engineering and Information Technology, University of Žilina, 010 26 Žilina, Slovakia
Marian Hruboš: Department of Control and Information Systems, Faculty of Electrical Engineering and Information Technology, University of Žilina, 010 26 Žilina, Slovakia
Peter Vestenický: Department of Control and Information Systems, Faculty of Electrical Engineering and Information Technology, University of Žilina, 010 26 Žilina, Slovakia
Peter Holečko: Department of Control and Information Systems, Faculty of Electrical Engineering and Information Technology, University of Žilina, 010 26 Žilina, Slovakia
Dušan Nemec: Department of Control and Information Systems, Faculty of Electrical Engineering and Information Technology, University of Žilina, 010 26 Žilina, Slovakia
Branislav Malobický: Department of Control and Information Systems, Faculty of Electrical Engineering and Information Technology, University of Žilina, 010 26 Žilina, Slovakia
Ján Mihálik: Department of Geotechnics, Faculty of Civil Engineering, University of Žilina, 010 26 Žilina, Slovakia

DOI: https://doi.org/10.3390/app12115641
Journal volume & issue: Vol. 12, no. 11
p. 5641

Abstract

Read online

The autonomous movement of the mobile robotic system is a complex problem. If there are dynamic objects in the space when performing this task, the complexity of the solution increases. To avoid collisions, it is necessary to implement a suitable detection algorithm and adjust the trajectory of the robotic system. This work deals with the design of a method for the detection of dynamic objects; based on the outputs of this method, the moving trajectory of the robotic system is modified. The method is based on the SegMatch algorithm, which is based on the scan matching, while the main sensor of the environment is a 2D LiDAR. This method is successfully implemented in an autonomous mobile robotic system, the aim of which is to perform active simultaneous localization and mapping. The result is a collision-free transition through a mapped environment. Matlab is used as the main software tool.

Published in Applied Sciences

ISSN: 2076-3417 (Online)
Publisher: MDPI AG
Country of publisher: Switzerland
LCC subjects: Technology: Engineering (General). Civil engineering (General); Science: Biology (General); Science: Physics; Science: Chemistry
Website: http://www.mdpi.com/journal/applsci

About the journal

Abstract

Keywords