| A Real-time relative probabilistic mapping algorithm for high-speed off-road autonomous driving | |
Chen C(陈成); He YQ(何玉庆) ; Gu F(谷丰); Bu CG(卜春光); Han JD(韩建达)
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| Department | 机器人学研究室 |
| Conference Name | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Conference Date | September 28 - October 2, 2015 |
| Conference Place | Hamburg, Germany |
| Source Publication | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2015 | |
| Pages | 6252-6258 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20160801970661 |
| WOS ID | WOS:000371885406056 |
| Contribution Rank | 1 |
| ISBN | 978-1-4799-9994-1 |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/17459 |
| Collection | 机器人学研究室 |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Acad. of Sci. and Intelligent Driving Technology Research, Research and Advanced Technology, SAIC Motor Corporation Ltd., Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| Recommended Citation GB/T 7714 | Chen C,He YQ,Gu F,et al. A Real-time relative probabilistic mapping algorithm for high-speed off-road autonomous driving[C]. Piscataway, NJ, USA:IEEE,2015:6252-6258. |
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| A Real-time relative（2396KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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