Title :
Research on wide range localization for driverless vehicle in outdoor environment based on particle filter
Author :
Jing Fu ; Tao Mei ; Hui Zhu ; Huawei Liang ; Biao Yu
Author_Institution :
Inst. of Intell. Machines, Hefei, China
Abstract :
The localization information is the premise of robot autonomous navigation. In this paper, intelligent vehicle is used as a platform for the present study. We perceive motion information and environment signpost information through wheel speed sensor and laser infrared radar SICK respectively, and realize the global localization of the vehicle with the fusion of the particle filter algorithm. The experimental result shows that when the environment signpost position is known, the global positioning error can be less than 1m.
Keywords :
intelligent control; mobile robots; motion control; particle filtering (numerical methods); path planning; remotely operated vehicles; sensors; velocity control; wheels; driverless vehicle; environment signpost information; global localization; global positioning error; intelligent vehicle; laser infrared radar SICK; localization information; motion information; outdoor environment; particle filter algorithm; robot autonomous navigation; wheel speed sensor; wide range localization; Mobile robots; Particle filters; Radar tracking; Robot kinematics; Robot sensing systems; Vehicles; SICK; localization; particle filter; signpost;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6885951
