Dynamic Obstacle Perception Technology for UAVs Based on LiDAR

With the widespread application of small quadcopter drones in the military and civilian fields, the security challenges they face are gradually becoming apparent. Especially in dynamic environments, the rapidly changing conditions make the flight of drones more complex. To address the computational limitations of small quadcopter drones and meet the demands of obstacle perception in dynamic environments, a LiDAR-based obstacle perception algorithm is proposed. First, accumulation, filtering, and clustering processes are carried out on the LiDAR point cloud data to complete the segmentation and extraction of point cloud obstacles. Then, an obstacle motion/static discrimination algorithm based on three-dimensional point motion attributes is developed to classify dynamic and static point clouds. Finally, oriented bounding box (OBB) detection is employed to simplify the representation of the spatial position and shape of dynamic point cloud obstacles, and motion estimation is achieved by tracking the OBB parameters using a Kalman filter. Simulation experiments demonstrate that this method can ensure a dynamic obstacle detection frequency of 10 Hz and successfully detect multiple dynamic obstacles in the environment.