A Fusion Navigation of Double Laser Radar for Intelligent Vehicle

摘要

A navigation method is presented for intelligent vehicle based on fusion of double laser radar. Given laser radar model and road curb model, road curbs are detected by one laser radar tilt mounted on the intelligent vehicle, and they restrict the vehicle to travel inside the road surface. First, obstacle information from two laser radar are unified to same reference frame and fused, then they are implemented using angle potential field method, the best navigation angle is computed under the road curb restriction. Experiments show the algorithm works well in spite of road boundary has regular shape or not, and is free from the impact of height difference of the road curb and road surface.