LIDAR反射強度に基づく路面状態の識別と経路計画

抄録

The reflection intensity obtained from LIDAR shows different values depending on the object. By using this property, we tried to estimate the road surface condition in front of the robot and obtain the desired moving route. The reflection intensity is represented by a probability density function and identified by KLD. From the experimental results, it was confirmed that the road surface condition was successfully identified in the indoor environment, and that the desired route could be obtained.