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一种基于单线激光雷达的无人车避障系统设计

Yanju LIU, Bo ZOU,Jianhui SONG,Yun CHI

Transactions of Shenyang Ligong University（2017）

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Abstract
为了实现无人车辆在野外等复杂环境中顺利躲避障碍物以实现独立自主行走的目的,完成了一种基于单线激光雷达的无人车避障系统软硬件设计及障碍信息实时显示界面.该系统将扫描平面区域划分为紧急避障区、避障区以及远离避障区,对障碍物信息进行编码,不同区域采取不同的控制策略.实验结果证实了这一设计的合理性,证明了该避障系统能够实现无人车独立自主行走的功能.
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Key words
unmanned vehicle,single-line laser radar,the obstacle avoidance system
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