Development of A Low-Cost, Portable and 〖360〗^0 Field of View New 3D LIDAR System for The Navigation of Autonomous Vehicles

Year 2019, Volume: 23 Issue: 3, 759 - 769, 25.12.2019

Ahmet Kağızman , Erdinç Altuğ

https://doi.org/10.19113/sdufenbed.527888

Abstract

In recent years, studies on autonomous vehicles have
been progressively increasing and especially, intensive works have been carried
out in many areas like obstacle detection, mapping, localization, path
planning, navigation, and obstacle avoidance. In this study, it was aimed to
develop a new 3D LIDAR system with much lower cost, portable and 360-degree
field of view by using standard 2D laser scanner instead of high-costing and
large dimension 3D LIDARs which contribute seriously to the autonomy of the
vehicle. The
acquisition of a new 3D LIDAR system is mainly based on the rotation of the 2D
laser scanner about certain axis and the conversion of the distance data
published by this laser scanner into point cloud data, which is called as the
3D Cartesian point cluster. When the 3D LIDAR system is examined as a whole, it
needs to communicate in coordinately the components it contains in order to
operate at the desired efficiency. Therefore, in order to manage this software
and hardware communication, ROS (Robot Operating System), which is a software
platform that can be controlled by the computer, was used. In addition, a
mobile vehicle was designed to be gained motion feature to the system. The 3D
LIDAR platform was integrated into the designed mobile vehicle and the new
system was made ready for navigation. For navigation, a number of algorithm and
ROS nodes, called Navigation Stack, were used to autonomously move the vehicle
from one point to another and avoid all obstacles that may occur during
movement. Experiments show that the developed 3D LIDAR system provides an
economical and effective solution for all directional object detection in
autonomous vehicles. The navigation tests also show that the developed system
is successful in performing tasks such as obstacle detection and obstacle
avoidance in indoor environments.

Keywords

3B LIDAR, ROS, Point cloud, Navigation, Laser scanner, Obstacle avoidance

Otonom Araçlarda Navigasyon İçin Düşük Maliyetli, Taşınabilir ve 〖360〗^0 Görüş Alanına Sahip Yeni Bir 3B LIDAR Sisteminin Geliştirilmesi

Abstract

Son yıllarda otonom araçlar üzerinde yapılan
çalışmalar gittikçe artmaktadır ve özellikle engel tespiti, haritalama, rota
planlama, navigasyon gibi birçok alanda yoğun çalışmalar yapılmaktadır. Bu
çalışmada ise aracın otonomluğuna ciddi katkı sağlayan yüksek maliyetli ve
büyük boyutlu 3B LIDAR’lar yerine standart 2B lazer tarayıcı kullanılarak çok
daha düşük maliyetli, portatif ve 360 derece görüş alanına sahip yeni bir 3B
LIDAR sisteminin geliştirilmesi amaçlanmıştır. Bu sistemin elde edilmesi temel
olarak 2B lazer tarayıcının belli bir eksen etrafında dönmesine ve bu lazer
tarayıcı tarafından yayınlanan mesafe verilerinin 3B Kartezyen nokta kümesi
olarak adlandırılan nokta bulutu verilerine dönüştürülmesine dayanır. 3B LIDAR
sistemi bir bütün olarak incelendiğinde istenen verimde çalışabilmesi için
içerdiği bileşenlerin koordineli olarak çalışması gerekir. Bu nedenle bu
yazılım ve donanım haberleşmesini yönetmek için bilgisayar tarafından kontrol
edilebilen bir yazılım platformu olan ROS (Robot İşletim Sistemi)
kullanılmıştır. Ayrıca, sisteme hareket özelliği kazandırmak için bir mobil
araç tasarlandı ve LIDAR sisteminin bu mobil araca entegre edilmesiyle yeni
sistem navigasyon işlemine hazır hale getirildi. Navigasyon için aracı bir
noktadan diğerine otonom olarak hareket ettirmek ve hareket esnasında meydana
gelebilecek tüm engellerden kaçınmak için Gezinme Yığını olarak adlandırılan
bir dizi algoritma ve ROS düğümleri kullanıldı. Yapılan deneyler, geliştirilen
3B LIDAR sisteminin otonom araçlarda tüm yönlü olarak nesne tespiti için
ekonomik ve etkili bir çözüm olduğunu göstermektedir. Yapılan navigasyon
testleri de geliştirilen sistemin kapalı ortamlarda engel tespiti ve engelden kaçınma
gibi görevlerin yerine getirilmesinde başarılı olduğunu göstermektedir.

Keywords

3B Lidar, ROS, Nokta bulutu, Navigasyon, Lazer tarayıcı, Engelden kaçınma

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