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Air-ground cooperative environment modeling with bounded elevation map
Du WQ(杜文强)1,2; Gu F(谷丰); Zhou H(周浩)1; Di CL(狄春雷)1; Xiong JF(熊俊峰)1; He YQ(何玉庆)1
作者部门机器人学研究室
会议名称8th International Conference on Information Science and Technology, ICIST 2018
会议日期June 30 - July 6, 2018
会议地点Cordoba, Granada, And Seville, Spain
会议主办者City University of Hongkong ; University of Cordoba ; University of Granada ; University of Seville
会议录名称8th International Conference on Information Science and Technology, ICIST 2018
出版者IEEE
出版地New York
2018
页码422-428
收录类别EI
EI收录号20183505760360
产权排序1
ISBN号978-1-5386-3781-4
关键词fusion multiple robots cooperation ESMF elevation map the error bound
摘要UGVs' application are always restrained in complicated environment because of its limited perception ability. One of the solution is cooperation with UAV which has large perception scale. Thus, the fusion of the air-ground perceptive information is the key problem. Focused on this problem, the ESMF based 2.5D elevation modeling method is first proposed for its bound rather than probabilistic information is robust and reliable for path planning of UGVs. In the second, the fast fusion method between air and ground vehicles is designed, which achieve data fusion by updating the perception of UGV with UAV instead of intersecting the two observation sets. In the third the traversability is analyzed based on the elevation model described with bounded information, which shows the robust and reliable of the proposed method. In the last based on two typical limited perception ability: Negative and ultrahigh obstacle an experiment is designed to verify the feasibility and validity of the propose method.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22728
专题机器人学研究室
通讯作者Du WQ(杜文强)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Du WQ,Gu F,Zhou H,et al. Air-ground cooperative environment modeling with bounded elevation map[C]//City University of Hongkong, University of Cordoba, University of Granada, University of Seville. New York:IEEE,2018:422-428.
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