Algorithm to Detect Roundabout Environments for Mobile Robot Based on Laser Range Finder and Camera

摘要

This research is aimed towards developing an algorithm for detecting road roundabout environments and estimating the collision free-path. Laser range finder (LRF) and camera are combined together to detect the mini-roundabout environments that are developed and built in a laboratory setting. The signal processing of the LRF is accomplished in MATLAB environment using the proposed algorithm to determine the road curbs and find the current position of the mobile robot within the environments. The video processing is performed also in MATLAB to identify the roundabout center when it is detected. The experiments are performed using the developed experimental setup and the data are processed in real-time. The results demonstrate the capability of the algorithm to effectively recognize the roundabout environments.