LiDAR-Based Negative Obstacle Detection for Unmanned Ground Vehicles in Orchards

In orchard environments, negative obstacles such as ditches and potholes pose significant safety risks to robots working within them. This paper proposes a negative obstacle detection method based on LiDAR tilt mounting. With the LiDAR tilted at 40°, the blind spot is reduced from 3 m to 0.21 m, and...

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Autores principales:	Peng Xie, Hongcheng Wang, Yexian Huang, Qiang Gao, Zihao Bai, Linan Zhang, Yunxiang Ye
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	MDPI AG 2024-12-01
Colección:	Sensors
Materias:	negative obstacles point cloud orchards LiDAR tilted mount unmanned ground vehicles
Acceso en línea:	https://www.mdpi.com/1424-8220/24/24/7929
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