Autonomous ground vehicle navigation method in complex environment

Author

Yang Yi ; Fu Mengyin ; Yang Xin ; Xiong Guangming ; Gong, J.W.

Author_Institution

Integrated Navig. & Intell. Navig. Lab., Beijing Inst. of Technol., Beijing, China

fYear

2010

fDate

21-24 June 2010

Firstpage

1060

Lastpage

1065

Abstract

In this paper, a 3D laser point cloud-based navigation method for autonomous ground vehicles in complex environment is proposed. With a coordinate transformation of laser data from sphere to cylinder, environment perception cylinder is configured. In the cylinder, terrain traversability is predicted through analysis on radial and tangential slope of 3D point cloud. In addition, the candidate point cloud of traversable region has been extracted. Furthermore, navigation circle contained with direction information is built up based on the candidate point cloud. Extended experimental results demonstrate that the method allows autonomous ground vehicle to move safely and correctly in complex environment.

Keywords

laser beam applications; mobile robots; path planning; remotely operated vehicles; road vehicles; robot vision; 3D laser point cloud based navigation method; autonomous ground vehicle navigation method; complex environment; coordinate transformation; environment perception cylinder; laser data; terrain traversability; Clouds; Histograms; Intelligent vehicles; Kernel; Land vehicles; Laser radar; Markov random fields; Navigation; Robot kinematics; Vegetation mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2010 IEEE

Conference_Location

San Diego, CA

ISSN

1931-0587

Print_ISBN

978-1-4244-7866-8

Type

conf

DOI

10.1109/IVS.2010.5547993

Filename

5547993