Analysis of Dual LIDAR Placement for Off-Road Autonomy Using MAVS

Hudson, C. R., Goodin, C., Doude, M., & Carruth, D. W. (2018). Analysis of Dual LIDAR Placement for Off-Road Autonomy Using MAVS. 2018 World Symposium on Digital Intelligence for Systems and Machines (DISA). Košice, Slovakia: IEEE. DOI:10.1111/soin.12230.

Abstract

Two simulations were conducted using the Mississippi State University Autonomous Vehicle Simulator (MAVS) to evaluate the orientation of two M8 LIDAR units on an off-road autonomous vehicle project. The first simulation assesses the ability of the two LIDAR units to detect an object, in this case a Jersey barrier, at a significant distance away from the vehicle as it travels along a pre-defined path. The second simulation seeks to find an optimal orientation for the LIDAR units given their current position to maximize coverage of the terrain in the path of the vehicle. The results of the two simulations indicate that vertical placement of LIDAR units (0 degree rotation) provides less than ideal instantaneous coverage of obstacles and the ground. An 87 degree rotation provided the maximum single-pass coverage of the terrain along the travel path while also providing a good visualization of objects in the path of the vehicle, given the constraints of this project.