로봇 주행로 하강/상승면 인식을 위한 라이다 측정값 해석

Abstract

Autonomous mobile robots are widely used for delivering food, drinks, and small goods. Because of their mobility, unmanned mobile robots can move on roads, sidewalks, and crosswalks. Even though most of them are paved and structured (indoor and outdoor), in contrast to uneven terrain, common obstacles are up-curbs and down-curbs. Small tires are used for such robots; it is essential to identify the curbs and to determine whether the robot can proceed. In this paper, the minimum heights for safe travel over down-curb and up-curb are derived based on the geometric analysis. Lidar information is only analyzed based on the distance readings rather than using a point cloud’s coordinates values. The precision of the sensor and the road flatness are considered in identifying the curb with a recursive estimation of the flatness. This study presents an essential function for an autonomous mobile robot to complete safe movement.