RESEARCH ON THE METHOD OF STEP FEATURE EXTRACTION FOR EOD ROBOT BASED ON 2D LASER RADAR

摘要

Considering the requirements of climbing obstacle and stairs for Explosive Ordnance Disposal (EOD) robot, a method about step feature extraction based on two-dimensional (2D) laser radar is in great demand. In this paper, we research the three-dimensional (3D) environment feature extraction (EFE) method including the 3D point clouds map construction, the line feature extraction and the plane feature extraction. The EFE method can be applied to feature extraction of the step vertical plane. Based on the method, we construct a 3D feature recognition system (FRS) using 2D laser radar. FRS can help us extract quickly the step vertical planes from 3D laser radar line map, thus can provide necessary environment information for the decision and action of EOD robot. We demonstrate the ability of FRS by applying it to some typical step environment.