抄録
This paper describes a method for obstacle detection and obstacle avoidance for a mobile robot using SOKUIKI sensors in outdoor environments. Road shape 3D map is constracted by SOKUIKI sensors. Obstacles are detected by unevenness of the height on the road detected by SOKUIKI sensors. We remove the discrete, low unevenness from 3D map to prevent the misrecognition of fallen leaves. Data of obstacles are stored in a ring buffer to store all the measurements in the last 7 seconds. We define a "free space cuboid" to represent possible "obstacle free space" where the can pass through. Each cuboid has a priority number which is checked from highest to lowest priority in order to perform obstacle avoidance.
