With the advancement of technology, unmanned ground vehicles (UGVs) have shown increasing application value in various tasks, such as food delivery and cleaning. A key capability of UGVs is obstacle detection, which is essential for avoiding collisions during movement. Current mainstream methods use point cloud information from onboard sensors, such as light detection and ranging (LiDAR) and depth cameras, for obstacle perception. However, the substantial volume of point clouds generated by these sensors, coupled with the presence of noise, poses significant challenges for efficient obstacle detection. Therefore, this paper presents a fast obstacle detection algorithm designed to ensure the safe operation of UGVs. Building on multi-sensor point cloud fusion, an efficient ground segmentation algorithm based on multi-plane fitting and plane combination is proposed in order to prevent them from being considered as obstacles. Additionally, instead of point cloud clustering, a vertical projection method is used to count the distribution of the potential obstacle points through converting the point cloud to a 2D polar coordinate system. Points in the fan-shaped area with a density lower than a certain threshold will be considered as noise. To verify the effectiveness of the proposed algorithm, a cleaning UGV equipped with one LiDAR sensor and four depth cameras is used to test the performance of obstacle detection in various environments. Several experiments have demonstrated the effectiveness and real-time capability of the proposed algorithm. The experimental results show that the proposed algorithm achieves an over 90% detection rate within a 20 m sensing area and has an average processing time of just 14.1 ms per frame.

As one of the most popular intelligent optimization algorithms, Simulated Annealing (SA) faces two key problems, the generation of perturbation solutions and the control strategy of the outer loop (cooling schedule). In this paper, we introduce the Gaussian Cloud model to solve both problems and propose a novel cloud annealing algorithm. Its basic idea is to use the Gaussian Cloud model with decreasing numerical character He (Hyper-entropy) to generate new solutions in the inner loop, while He essentially indicates a heuristic control strategy to combine global random search of the outer loop and local tuning search of the inner loop. Experimental results in function optimization problems (i.e. single-peak, multi-peak and high dimensional functions) show that, compared with the simple SA algorithm, the proposed cloud annealing algorithm will lead to significant improvement on convergence and the average value of obtained solutions is usually closer to the optimal solution.

Recent researches on mobile robots show that convolutional neural network (CNN) has achieved impressive performance in visual place recognition especially for large-scale dynamic environment. However, CNN leads to the large space of image representation that cannot meet the real-time demand for robot navigation. Aiming at this problem, we evaluate the feature effectiveness of feature maps obtained from the layer of CNN by variance and propose a novel method that reserve salient feature maps and make adaptive binarization for them. Experimental results demonstrate the effectiveness and efficiency of our method. Compared with state of the art methods for visual place recognition, our method not only has no significant loss in precision, but also greatly reduces the space of image representation.

LiDAR-inertial odometry (LIO) is a key technique for autonomous navigation of unmanned ground vehicles (UGVs), but LiDAR’s limited vertical field of view (FoV) causes significant vertical pose drift. Existing methods introduce ground observation constraints to mitigate this drift phenomenon, but these are often unreliable. To address this issue, this article proposes a low-drift LIO method that works without ground constraints. It leverages point cloud position uncertainty to build reliable horizontal and vertical matching features separately, compensating for the vertical FoV limitation. Validated via experiments on diverse datasets, the method significantly reduces pose drift and maintains reliable performance.

KSII Transactions on Internet and Information Systems TIIS Paper Details