J Shanghai Jiaotong Univ Sci ›› 2026, Vol. 31 ›› Issue (1): 167-175.doi: 10.1007/s12204-025-2807-7

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触觉辅助导航车辆：增强盲区和透明物体场景中的障碍物检测

  

  1. 1. 东南大学 软件学院，江苏苏州215000；2. 东南大学 自动化学院，南京210018；3. 东南大学 网络空间安全学院，南京211102；4. 复杂工程系统测量与控制教育部重点实验室，南京214135；5.南京应用数学中心，南京211135；6. 东南大学深圳研究院，广东深圳518063
  • 收稿日期:2024-11-13 接受日期:2024-12-02 出版日期:2026-02-28 发布日期:2026-02-12

Haptic-Aided Navigation Vehicle: Enhancing Obstacle Detection in Blind Spots and Transparent Object Scenarios

李名旺1, 5，李新德2, 4, 5, 6，张朕通3, 5，张泽宇2, 5，赵浩鸣5   

  1. 1. School of Software, Southeast University, Suzhou 215000, Jiangsu, China; 2. School of Automation, Southeast University, Nanjing 210018, China; 3. School of Cyber Science and Engineering, Southeast University, Nanjing 211102, China; 4. Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education, Nanjing 214135, China; 5. Nanjing Center for Applied Mathematics, Nanjing 211135, China; 6. Southeast University Shenzhen Research Institute, Shenzhen 518063, Guangdong, China
  • Received:2024-11-13 Accepted:2024-12-02 Online:2026-02-28 Published:2026-02-12

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摘要： 随着自主移动机器人在复杂环境中的广泛应用，传统的视觉传感器和激光雷达（LiDAR）面临着显著的局限性，特别是在盲区和透明物体的障碍物检测方面。为了解决盲区问题，我们设计了一种专门的触觉传感结构，并开发了触觉辅助导航车辆（HANV）。该系统集成了触觉传感器和激光雷达，提供全面的感知能力，显著提高了在传统传感器无法覆盖的盲区区域的近距离障碍物检测能力。为了应对透明障碍物的挑战，这些障碍物通常无法被视觉和激光雷达传感器检测到，我们采用了触觉传感器与激光雷达的融合。触觉系统提供物理接触反馈，确保可靠地检测到玻璃等透明障碍物，而激光雷达则提供远程感知能力。两者的结合使得触觉辅助导航车辆能够有效地在具有透明障碍物的环境中导航，克服了传统传感系统的局限性。实验结果表明，所提出的触觉与激光雷达融合方案显著提高了在盲区和透明障碍物环境中的障碍物检测能力。触觉辅助导航车辆在复杂且狭小的空间中，特别是在传统系统表现不足的情况下，取得了较高的成功率、最小的碰撞率和高效的障碍物规避。这些结果突显了我们的方法在动态和具有挑战性的环境中提升导航性能的有效性。

关键词: 触觉传感器, 激光雷达, 自主避障, 深度强化学习, 多模态传感器融合, 移动机器人导航

Abstract: As autonomous mobile robots are increasingly deployed in complex environments, traditional vision sensors and LiDAR encounter considerable limitations, particularly in detecting obstacles in blind spots or transparent objects. To address the issue of blind spots, we design a specialized haptic sensing structure and develop the haptic-aided navigation vehicle (HANV). This system integrates haptic sensors and LiDAR to deliver comprehensive perception, significantly enhancing close-range obstacle detection in areas that are typically beyond the range of conventional sensors. To tackle the challenge of transparent obstacles, which are often undetected by both vision and LiDAR sensors, we employ a fusion of haptic sensors and LiDAR. The haptic system provides physical contact feedback, ensuring reliable detection of transparent obstacles such as glass, while LiDAR offers long-range sensing capabilities. This combination enables HANV to navigate effectively in environments with transparent obstacles, overcoming the limitations of traditional sensing systems. Experiment results indicate that the proposed haptic and LiDAR integration substantially improves obstacle detection in both blind spots and environments with transparent obstacles. HANV achieves high success rates, minimal collisions, and efficient obstacle avoidance, particularly excelling in complex, confined spaces where conventional systems prove inadequate. These findings emphasize the efficacy of our approach in enhancing navigation performance in dynamic and challenging environments.

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