Autonomous Mobile Robot Navigation Using 2D LiDAR and Inclined Laser Rangefinder to Avoid a Lower Object

Phang Darren Ren Yee, Nattawat Pinrath, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this study, we propose a collaborative autonomous navigation stack between two sensors: a laser rangefinder (LRF) and a 2D light detection and ranging (LiDAR). The difference between LRF and LiDAR is that LiDAR uses the same laser technology but rotates around its axis and offers a 360° all-round visibility. The system can navigate in a more complex environment such as a convenience store or a supermarket. Because of the collaboration between inclined LRFs and 2D LiDARs, a mobile robot can avoid objects below the scanning sight of a 2D LiDAR, for example, a small box, a short display rack, shelf legs, and the lower body of a shopping cart. Thus, the proposed system leverages the navigation stack capabilities of using multiple observation sources to increase the accuracy of both navigation and obstacle avoidance. Our method aims to solve the issue of obstacle avoidance of objects below the scanning sight of a 2D LiDAR and increase the accuracy of detection during navigation using an inclined LRF. The proposed system is based on a robot operating system. Experiments were conducted to demonstrate outputs in terms of increasing navigation and detection accuracy by being able to effectively avoid objects below a 2D LiDAR.

Original languageEnglish
Title of host publication2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1404-1409
Number of pages6
ISBN (Electronic)9781728110899
Publication statusPublished - 2020 Sep 23
Event59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 - Chiang Mai, Thailand
Duration: 2020 Sep 232020 Sep 26

Publication series

Name2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020

Conference

Conference59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
CountryThailand
CityChiang Mai
Period20/9/2320/9/26

Keywords

  • LiDAR
  • ROS
  • autonomous mobile robot
  • laser range finder
  • navigation

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering

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