Research On Indoor Glass Environment Detection Based On Laser Scanning Radar

With the rapid development of the artificial intelligence,the mobile robot is increasingly used in various fields,and has become the focus of many scholars.Simultaneous localization and mapping(SLAM)is a key technology in mobile robotics.Laser Scanning Radar is widely used in mobile robot due to its high precision and wide scanning range.But when laser radar scans transparent glass,the laser passes through the glass and does not produce accurate data,as well as the accurate environmental data information feedback to mobile robot.Therefore it causes great trouble to the path planning and normal operation of mobile robot,and becomes a problem to be solved in the map construction of mobile robotics.In this paper,the experiment is based on Robot Operating System(ROS)and 3D laser radar is used as the perception sensor to collect data and realize the real-time positioning as well as map construction of mobile robot in indoor environment.The results show that the map error is small,and do not need other sensors.At the same time,in the process of map construction,this paper proposes a method to solve the problem that transparent glass cannot be reconstructed when radar scans it.Point clouds are formed when the laser is aimed vertically at the glass and moves as the robot moves.Therefore,the motion trajectory of the mobile robot itself and the motion trajectory of the point clouds on the glass are used to judge the specific position of the glass.Finally,the indoor glass environment was scanned under the ROS platform for experiments to verify the indoor glass detection algorithm.The experimental results realize the positioning of the mobile robot and the construction of the surrounding environment including transparent glass,and the validity of the algorithm is verified.