Title: Obstacle detection and avoidance for autonomous bicycles
Abstract:Obstacle detection and avoidance is an essential part in the field of autonomous vehicles. In this paper, we propose a novel methodology for obstacle detection and avoidance for the rapidly-developing...Obstacle detection and avoidance is an essential part in the field of autonomous vehicles. In this paper, we propose a novel methodology for obstacle detection and avoidance for the rapidly-developing category of autonomous bicycles. This comprises the bicycle-specific design of our Light Detection And Ranging(LiDAR)-based sensor system and our obstacle detection technique, including the segmentation of the surrounding environment 3D point cloud into discrete obstacle clusters within the bicycle's path and a method for detecting areas containing liquids on the road surface. Moreover, our obstacle avoidance technique is introduced, consisting of a local path planning and a path following part, enabling our bicycle to avoid the closest obstacle lying on the bicycle's user-defined route. The proposed method takes into account the unique dynamic characteristics of bicycles, and the results of the simulation and outdoor experiment confirm its efficacy and promising behavior.Read More
Publication Year: 2017
Publication Date: 2017-08-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 7
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