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题名: A Real-time relative probabilistic mapping algorithm for high-speed off-road autonomous driving
作者: Chen C(陈成); He YQ(何玉庆); Gu F(谷丰); Bu CG(卜春光); Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议日期: September 28 - October 2, 2015
会议地点: Hamburg, Germany
会议录: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 6252-6258
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-9994-1
摘要: Reliable mapping and hazard detection are prerequisites for autonomous navigation for unmanned ground vehicles. Because of the uncertainty and vibration induced by high-speed navigation and rugged terrain, the problem of mapping for high-speed off-road autonomous navigation has not been completely solved yet. A relative probabilistic mapping (RPM) algorithm is introduced to address the problem. Firstly, the relative probabilistic map is updated by Kalman filter and Gaussian Mixture algorithm based on the probabilistic exteroceptive measurements model. Then, terrain traversability is evaluated to identify obstacles in the map. Experiments on off-road high-speed autonomous vehicle, which suffers from severe vibration, with different sensor configurations are carried out to demonstrate the capability of the RPM algorithm.
语种: 英语
产权排序: 1
WOS记录号: WOS:000371885406056
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17459
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Chen C,He YQ,Gu F,et al. A Real-time relative probabilistic mapping algorithm for high-speed off-road autonomous driving[C]. 见:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. September 28 - October 2, 2015.
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文件名: A Real-time relative probabilistic mapping algorithm for high-speed off-road autonomous driving.pdf
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