电子科技2024，Vol.37Issue(1)：41-47,7.DOI:10.16180/j.cnki.issn1007-7820.2024.01.006
基于LiDAR扫描角度修正的障碍目标定位方法
Obstacle Target Positioning Based on LiDAR Scanning Angle Correction
摘要
Abstract
When two-dimensional Laser Radar(LiDAR)is used for obstacle detection,the position change of mobile robot's own attitude usually leads to the change of LiDAR reference position,which will produce a large error in the positioning calculation of obstacle.In this study,an obstacle target location method based on LiDAR scanning angle correction is proposed.The K-means clustering algorithm is used to divide the LiDAR point cloud data,and then the angle correction processing is performed on the clustered data,so that the processed data information is more consistent with the real value.Finally,each cluster data is enveloped to improve the accuracy of LiDAR scanning da-ta.The test results show that the the proposed method can improve the positioning accuracy and meet the requirement of accurate obstacle positioning.关键词
二维激光雷达/移动机器人/姿态变化/基准位置/聚类划分/角度修正/障碍目标定位/准确性Key words
2D-LiDAR/mobile robot/attitude change/reference position/cluster division/angle correction/ob-stacle target location/accuracy分类
信息技术与安全科学引用本文复制引用
张铭坤,蔡文郁,张帅..基于LiDAR扫描角度修正的障碍目标定位方法[J].电子科技,2024,37(1):41-47,7.基金项目
浙江省自然科学基金(LZ22F010004,LZJWY22E090001) （LZ22F010004,LZJWY22E090001）
浙江省属高校基本科研业务费专项资金(GK209907299001-001) （GK209907299001-001）
浙江省教育厅一般科研项目(Y202146775)Zhejiang Natural Science Foundation(LZ22F010004,LZJWY22E090001) （Y202146775）
Special Funds for Basic Scientific Research Business Expenses of Zhe-jiang Provincial Universities(GK209907299001-001) （GK209907299001-001）
General Scientific Research Projects of Zhejiang Provincial Department of Education(Y202146775) （Y202146775）
