A Real-time relative probabilistic mapping algorithm for high-speed off-road autonomous driving | |
Chen C(陈成); He YQ(何玉庆)![]() ![]() ![]() ![]() | |
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 |
会议录名称 | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
出版者 | IEEE |
出版地 | Piscataway, NJ, USA |
2015 | |
页码 | 6252-6258 |
收录类别 | EI ; CPCI(ISTP) |
EI收录号 | 20160801970661 |
WOS记录号 | WOS:000371885406056 |
产权排序 | 1 |
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 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.sia.cn/handle/173321/17459 |
专题 | 机器人学研究室 |
作者单位 | 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 |
推荐引用方式 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 | 浏览 下载 |
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