Detection And Tracking Of Road Boundary Based On A Four-layer Laset Radar

Autonomous navigation in outdoor environment is an important research direction of intelligent robots, road detection and tracking is one of the important tasks of autono-mous navigateon. Road-boundary detection, based on the image, has been widely used due to the large amount of image information, and high resolution. However, this type of detection is highly vulnerable to the effects of the changes in the external environment, such as light, shadow, rainy. Laser radar is not vulnerable to the impact of the external environment, it not only can work in harsh weather conditions, but it also has a far dete-ction range, a accurate ranging, as well as a wider field of vision, with less power con-sumption. Road detection based on laser radar begins to be a matter of public concern, also has a rapid development.At first, introduce the calibration of the four layer laser radar. And then by utilizing the four sets of data of the four-layer laser radar, it can obtain a more complete road info-rmation. First, use the collinear points in the each set of data to fit straight lines respecti-vely to extract Road-boundary lines quickly and merge them to get the complete road boundary lines. Then fitter previous data to get the ground points by road boundary, fit the road plane and calculate the distance between the plane and the endpoints of road boundary to get the road boundary height. According to the spatial position of the road boundary with the intersection, obtain the intersection lines among the previous line segments to achieve the intersection detection, and extract the road information, structure a Kalman filter, combined with the motion information of the vehicle body, to track and estimate the road-boundary and the intersection. During the detection and tracking, use the fuzzy control to do the path tracking control.