障碍检测是移动机器人避障中的关键问题。文章介绍了基于飞行时间法测距的2D激光雷达RPLIDAR的工作原理,分析了影响激光雷达测距性能的误差因素,通过统计分析对雷达数据进行标定;研究了不同物体表面属性对雷达测距性能的影响,通过对激光雷达性能测试的实验,建立了测距校准模型。所得的结论和误差模型可以为室内移动机器人在室内环境中的障碍检测提供支持。 Obstacle detection is a key problem in mobile robot avoidance. This paper introduces the working principle of RPLIDAR based on time-of-flight distance measurement, analyzes the error factors that affect the range performance of LIDAR, and calibrates the radar data by statistical analysis. It studies the effect of the surface properties of different objects on the radar ranging performance Through the experiment of laser radar performance testing, a distance calibration model was established. The conclusions obtained and the error model can provide support for obstacle detection of indoor mobile robots in indoor environment.