Obstacle detection for unmanned ground vehicle on uneven terrain

Tok Son Choe, Sang Hyun Joo, Yong Woon Park, Jin Bae Park

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


We propose an obstacle detection algorithm for unmanned ground vehicle on uneven terrain. The key ideas of the proposed algorithm are the use of two-layer laser range data to calculate the gradient of a target, which is characterized as either ground or obstacles. The proposed obstacle detection algorithm includes 4-steps: 1) Obtain the distance data for each angle from multiple lidars or a multi-layer scan lidar. 2) Calcualate the gradient for each angle of the uneven terrain. 3) Determine ground or obstacle for each angle on the basis of reference gradient. 4) Generate a new distance data for each angle for a virtual laser scanner. The proposed algorithm is verified by various experiments.

Original languageEnglish
Pages (from-to)342-348
Number of pages7
JournalTransactions of the Korean Institute of Electrical Engineers
Issue number2
Publication statusPublished - 2016 Feb

Bibliographical note

Publisher Copyright:
© Copyright The Korean Institute of Electrical Engineers.

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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