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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
Department机器人学研究室
Conference Name8th International Conference on Information Science and Technology, ICIST 2018
Conference DateJune 30 - July 6, 2018
Conference PlaceCordoba, Granada, And Seville, Spain
Author of SourceCity University of Hongkong ; University of Cordoba ; University of Granada ; University of Seville
Source Publication8th International Conference on Information Science and Technology, ICIST 2018
PublisherIEEE
Publication PlaceNew York
2018
Pages422-428
Indexed ByEI
EI Accession number20183505760360
Contribution Rank1
ISBN978-1-5386-3781-4
Keywordfusion multiple robots cooperation ESMF elevation map the error bound
AbstractUGVs' 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22728
Collection机器人学研究室
Corresponding AuthorDu WQ(杜文强)
Affiliation1.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
Recommended Citation
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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