Obstacle Detection and Obstacle Avoidance Algorithm based on 2-D RPLiDAR

Abstract

Obstacle Detection and Obstacle Avoidance are vital technologies for autonomous navigation of vehicles. A number of sensor technologies have been used before to perform obstacle detection and obstacle avoidance. One kind of such sensor is a 2- D lidar sensor renowned for its accuracy in measuring distances. This research involves usage of low cost 2-D lidar system from Slamtech for obstacle detection and avoidance. This paper proposes an efficient algorithm for the implementation of obstacle detection and avoidance using 2-D lidar. A method is proposed as to how to get the data from the lidar sensor and also an algorithm is designed to get the information of obstacles by filtering, clustering technique. A systematic approach is used to avoid obstacles on the principle of minimum cost function. The efficacy of the algorithm implemented is verified using MATLAB simulation platform.