基于激光雷达的内河无人船障碍物识别方法

无人水面船(简称无人船)在内河航道环境中具有广阔的应用前景, 对障碍物的智能感知是实现内河无人船自主航行的关键。针对内河无人船对近距离障碍物的感知需求, 分析了内河环境下主要障碍物的激光数据特征; 在对激光数据进行模式分析、数据滤波、去除聚类孤立点等预处理基础上, 提出了一种基于SVM的内河典型障碍物识别方法; 在所搭建的基于激光雷达的无人船环境感知系统上, 进行了实验水池环境下的障碍物识别实验。实验结果表明提出的SVM障碍物感知算法识别率达到85%以上, 基本满足无人船自主航行要求。

Abstract

The USV (unmanned surface vessels) has a wide application prospect in the inland waterway environment. The intelligent perception of obstacles is the key to realize the autonomous navigation of inland USV. Firstly, considering the short-range perception demand for inland USV, the characteristics of the laser data of the main obstacles in inland river are analyzed. Secondly, typical obstacles recognition (detection and classification) method based on SVM is put forward based on the data pre-processing, i.e., pattern analysis, data filtering, and clustering isolation points. Finally, the obstacle recognition method is validated in the experimental pool environment, and the experimental results show that the recognition rate of the proposed method is above 85%, basically meet the requirement of unmanned navigation of inland USV.

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王贵槐, 谢朔, 柳晨光, 初秀民, 李梓龙. 基于激光雷达的内河无人船障碍物识别方法[J]. 光学技术, 2018, 44(5): 602. WANG Guishu, XIE Shuo, LIU Chenguang, CHU Xiumin, LI Zilong. Obstacle identification method based on laser radar for inland unmanned vessel[J]. Optical Technique, 2018, 44(5): 602.

基于激光雷达的内河无人船障碍物识别方法

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