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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Autors principals:	Peng Xie, Hongcheng Wang, Yexian Huang, Qiang Gao, Zihao Bai, Linan Zhang, Yunxiang Ye
Format:	Artigo
Idioma:	Inglês
Publicat:	MDPI AG 2024-12-01
Col·lecció:	Sensors
Matèries:	negative obstacles point cloud orchards LiDAR tilted mount unmanned ground vehicles
Accés en línia:	https://www.mdpi.com/1424-8220/24/24/7929
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