2D LiDAR Based Obstacle Detection System for Obstacle Avoidance in 3D Space

Abstract

Obstacle detection is an important feature in autonomous systems to enhance safety and to improve reliability of the operations in the unknown environment. Various techniques are adopted to detect the obstacle using passive and/or active sensors. Fusion of active and passive sensor techniques are also considered in some cases for better detection of obstacles and improve the accuracy of the detection with safe distance especially in an unmanned aerial robotic system. In this study, robust method of detecting the obstacle in 3D space using 2D LiDAR system is presented. The experiments conducted indoor in lab environment and outdoor showed excellent results in detecting the obstacle within the safe distance predefined based on the speed of the autonomous systems.