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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)
Department机器人学研究室
Conference Name2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference DateSeptember 28 - October 2, 2015
Conference PlaceHamburg, Germany
Source Publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages6252-6258
Indexed ByEI ; CPCI(ISTP)
EI Accession number20160801970661
WOS IDWOS:000371885406056
Contribution Rank1
ISBN978-1-4799-9994-1
AbstractReliable 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
Identifierhttp://ir.sia.cn/handle/173321/17459
Collection机器人学研究室
Affiliation1.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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