3D laser point cloud-based navigation in complex environment

This paper presents a 3D laser point cloud-based navigation method for mobile robot in complex environment. On the basis of laser data coordinate transformation from sphere to cylinder, environment perception cylinder is configured. In the cylinder, terrain traversability in complex environment is analyzed with radial slope and tangential slope of point cloud. Furthermore, navigation circle is built up and navigation direction is obtained. Experimental results confirm that the method can make robot moving safely and correctly in complex environment.