Obstacle Avoidance for Unmanned Vehicle based on a 2D LIDAR

Abstract

In recent years, international trade ports have become increasingly busy. As the most important form of transportation in international trade, container shipping plays an important role in reducing the labor cost of terminals, improving port capacity and reducing the energy consumption of loading and unloading operations. AGV is gradually becoming the main tool for container handling in large international ports. It can work continuously and continuously, improving the efficiency of container operation. Due to the complex port environment, the technical requirements for unmanned vehicles are highly demanded. Unmanned vehicle obstacle avoidance technology is an important part of many related technologies. The detection and avoidance of surrounding obstacles is to be achieved by unmanned vehicle in safety condition. How to get environmental information and plan the route is very important. In this paper, we design and develop a laser-based avoidance system for autonomous guided vehicle materialized in this work by two-wheeled robot. This system can quickly collect obstacle distance information and effectively avoid the obstacles and determine the new direction and a new path after information processing on the level of computation platform. The local processing on the edge platform expressed by a Raspberry Pi is followed by cloud processing. Experimental results are presented that validate the capability of the system. on navigation based on 2D LIDAR.