Environment Detection Algorithm Development for Realizing Autonomous Mobile Robot Navigation Using 3D-Lidar in Rainy Environment

Abstract

For autonomous mobile robots to travel safely, it is important for them to have a stable understanding of their surrounding environment. Most autonomous mobile robots use LiDAR (Light Detection and Ranging) to sense the surrounding environment. Under normal circumstances, this LiDAR can stably and accurately assess the surrounding environment. However, during rainy weather, it has a problem in that it recognizes raindrops as objects. When an autonomous mobile robot uses LiDAR to detect obstacles in rainy weather, the laser emitted from LiDAR may hit raindrops and misjudgment them. In this paper, we employ 3D-LiDAR and consider a method different from the conventionally employed clustering method to realize an autonomous mobile robot in a rainfall environment.