I am working on a ROSBOT for a natural navigation project.

While working with RpLIDAR A2 version, I found that it does not sense thin black surfaces like black pants/trousers while at close range (less than 30 cms).

The screenshots of the RVIZ visualization of the robot is attached below

When the person at more than 80 cm from the LIDAR

More than 80 cm from the LIDAR

When the person at more than 50 cm from the LIDAR

More than 50 cm from the LIDAR

When the person reaches 30 cm from the LIDAR

30 cm from the LIDAR

I tried debugging the code, but no errors in the code.

What are the methods we can use to improve sensing of the robot, can we do any hardware or software tuning to the RpLIDAR sensor to improve its sensing?

What are the likely errors causing this behaviour?

  • $\begingroup$ "What are the likely errors" Every sensor has its limitations and assumptions. Safety sensors (e.g. S300 from Sick) will definitely be able to see dark surfaces, but if you use a cheap sensor, you can't expect perfect data in all scenarios. The rplidar has an officiel minimal distance of 15cm (for white surfaces) and you are close to that limit. $\endgroup$
    – FooTheBar
    May 20 '19 at 7:18
  • $\begingroup$ @FooBar The sensor is RPLIDAR A2 version, the distance at which it is unable to detect the black surface was 30 cm. Upgrading the sensor to RPLIDAR A3 version is also resulting in a similar error. It is because of the black surface of the trouser because i can put a thicker black surface like a board the lidar detects the board $\endgroup$
    – Pradeep BV
    May 20 '19 at 7:28

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