2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots

Qiu, Quan; Han, Jianda

doi:10.1007/s11432-011-4356-y

Cited by 1 publication

(1 citation statement)

References 19 publications

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“…The application of GPS is affected by satellite signals. A LiDAR sensor can provide a large amount of accurate distance information at a higher frequency, reliably provide the position and depth information of surrounding objects [2], and provide more comprehensive information.…”

Section: Introductionmentioning

confidence: 99%

Information Perception Method for Fruit Trees Based on 2D LiDAR Sensor

et al. 2022

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To solve the problem of orchard environmental perception, a 2D LiDAR sensor was used to scan fruit trees on both sides of a test platform to obtain their position. Firstly, the two-dimensional iterative closest point (2D-ICP) algorithm was used to obtain the complete point cloud data of fruit trees on both sides. Then, combining the lightning connection algorithm (LAPO) and the density-based clustering algorithm (DBSCAN), a fruit tree detection method based on density-based lightning connection clustering (LAPO-DBSCAN) was proposed. After obtaining the point cloud data of fruit trees on both sides of the test platform using the 2D-ICP algorithm, the LAPO-DBSCAN algorithm was used to obtain the position of fruit trees. The experimental results show that the positive detection rate was 96.69%, the false detection rate was 3.31%, and the average processing time was 1.14 s, verifying the reliability of the algorithm. Therefore, this algorithm can be used to accurately find the position of fruit trees, meaning that it can be applied to orchard navigation in a later stage.

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Section: Introductionmentioning

confidence: 99%