Laser-Based Obstacle Avoidance and Road Quality Detection for Autonomous Bicycles

This paper presents a novel design and implementation approach for a laser range sensor (LRS)-based obstacle avoidance and road quality detection system specifically created to be used onboard an autonomous bicycle. The system uses the measurements from a single LSR to detect dynamic obstacles inside the bicycle’s environment and avoid the ones whose paths intersect with its own. The LSR’s mechanical base and rotating mechanism were specially designed to fit the lightweight structure of the bicycle and a specific rotation pattern on the bicycle’s sagittal plane was created to maximize sensing efficiency. The RANSAC Line Detection algorithm is applied to detect the ground line, assess the road surface quality, and avoid bumps or holes on the bicycle path. Our experimental results show promising bicycle behavior and reliable obstacle avoidance at different speeds.