Obstacle Avoidance Using 3D LiDAR
Jelinek, Tomas (2025)
2025
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-202503275123
https://urn.fi/URN:NBN:fi:amk-202503275123
Tiivistelmä
Obstacle detection is a critical aspect of autonomous robot navigation, especially in dynamic environments. This thesis presents the development and implementation of an obstacle avoidance system for the Jackal mobile robot, utilizing 3D LiDAR technology and ROS 2 for real-time processing. The system enables the robot to navigate a dynamic environment by calculating position of obstacles and adjusting path accordingly. The main scope is to design an obstacle avoidance algorithm based on the processed data.
The system was tested in simulation as well as the the real robot platform, where the performance was analysed in multiple scenarios with different parameters. The results demonstrate that the robot can effectively avoid obstacles, although minor limitations were observed under certain conditions, where the LiDAR failed to detect all points.
The system was tested in simulation as well as the the real robot platform, where the performance was analysed in multiple scenarios with different parameters. The results demonstrate that the robot can effectively avoid obstacles, although minor limitations were observed under certain conditions, where the LiDAR failed to detect all points.