Laser sensor based road boundary recognition of mobile robot

This paper presents a new method of applying laser sensor to obtain road boundary points in order to solve the road detection problems of outdoor cleaning mobile robot. This method makes full use of the advantages of laser sensor and realizes the recognition of road detection in real-time. The road boundary recognition algorithm including the feature extraction and coordinate calculation is proposed. The linear fitting and curve fitting using least square method are described. Finally, an experiment is conducted using a mobile robot and the experimental result shows the proposed method to be effective.