METHOD FOR DETECTING FLOOR OBSTACLE USING LASER RANGE FINDER

摘要

The present invention relates to a floor obstacle detection method using a laser distance sensor, comprising the steps of: (a) generating normal floor characteristic data for a flat normal running surface on which no floor obstacle exists; (b) the normal floor characteristic data is registered in a pre-registered single class classification technique; (c) obtaining a sensing value of the laser distance sensor according to travel of the mobile robot; (d) generating sensing value floor characteristic data for the sensed value; (e) determining that the sensing value floor characteristic data is applied to the single class classification technique to determine whether the sensing value is a normal driving surface or a bottom obstacle. Accordingly, it is possible to more effectively detect the obstacle including the relatively small floor obstacle present on the traveling path of the mobile robot by using the laser distance sensor, and to secure the travelable area of the mobile robot more stably.