A dynamic filtering obstacle detection method based on ultrasonic array

作者：Cui, Huihai^*; Liu, Daxue; Li, Yan; He, Hangen

来源：International Journal of Wavelets, Multiresolution and Information Processing, 2016, 14(4): 1650030.

DOI：10.1142/S0219691316500302

• Autonomous land vehicle (ALV)
• obstacle detection
• ultrasonic array
• dynamic filtering

In research on the navigation and control of an Autonomous Land Vehicle (ALV), the ultrasonic obstacle detection system plays an important role extending the environment cognition capability of the ALV. With a goal of improving the accuracy of ultrasonic obstacle detection, a dynamic data filtering method based on ultrasonic array is presented. The sonar return data is first processed through static filtering according to the geometric relationship of the ultrasonic array. Then, dynamic filtering is executed using the orientation and trajectory information of the vehicle. The dynamic filtering method is compared to the traditional ultrasonic obstacle detection method, which is the static filtering method in a typical field environment. The experiment result demonstrates the validity of the method for solving the fake data problem, and the accuracy of obstacle detection is improved.

• 出版日期2016-7
• 单位中国人民解放军国防科学技术大学