Blunder, Noel MoritzNoel MoritzBlunderThiel, MarkoMarkoThielSchrick, ManuelManuelSchrickHinckeldeyn, JohannesJohannesHinckeldeynKreutzfeldt, JochenJochenKreutzfeldt2022-11-152022-11-152022Logistics Journal 11: (2022)http://hdl.handle.net/11420/14063T o ensure safe operation of mobile robots in public spaces, the robots must be able to detect obstacles and identify non-traversable ground. However, there are relatively few suitable methods for mobile robots in urban environments available and equally few empirical data on such applications. This contribution identifies requirements for such systems, designs meaningful test scenarios, and evaluates an exemplary approach using a mobile robot platform with depth sensors. It is found that the method is suitable in principle, but that different roadway elements pose a challenge to detection. Corrupted sensor data due to tilting movements or overexposure also negatively affect the quality of obstacle detection.en1742-7967202211mobile robotobstacle detectionpublic spacetraversabilityurban test scenariosJournal Article10.2195/lj_proc_blunder_en_202211_01Other