A Real-time relative probabilistic mapping algorithm for high-speed off-road autonomous driving
文献类型：会议论文
| 作者 | 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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| 出版日期 | 2015 |
| 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 |
| 页码 | 6252-6258 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-9994-1 |
| WOS记录号 | WOS:000371885406056 |
| 源URL | [http://ir.sia.cn/handle/173321/17459]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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]. 见:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. September 28 - October 2, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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