This paper presents a technique to localize and guide outdoors vehicles by both vehicle odometry and landmark localization. In this case, we use reflective poles spaced out about 50 m apart and located at the front of the vehicle. The LADAR detects distances, angles, speed, and the position of obstacles within 20 m. Odometry is performed by a steering sensor and encoder attached at the vehicle differential. Using this information, the embedded system matches the vehicle's computed position with the location of the poles. Finally, passenger safety is ensured by an anti-collision subsystem thanks to the LADAR sensor.
Publié le : 2002-12-02
Classification:
Cities and towns,
landmark localization,
vehicle odometry,
Laser radar,
road vehicles,
intelligent robots,
optical radar,
50 m,
Space vehicles,
reflective poles space,
Automated vehicles,
20 m,
mobile robots,
encoder,
laser ranging,
navigation,
LADAR sensor,
Vehicle driving,
landscape features,
passenger safety,
odometric navigation,
poles location,
distance detection,
Intelligent sensors,
Public Transport CTS,
Cybercars,
PRT,
Intelligent Transportation,
Robotics,
pole assignment,
anticollision subsystem,
embedded system,
obstacle avoidance,
steering sensor,
Vehicle safety,
Road transportation,
position control,
Communication dans un congrès,
[MATH]Mathematics [math],
[SPI.AUTO]Engineering Sciences [physics]/Automatic,
[INFO.INFO-ES]Computer Science [cs]/Embedded Systems
@article{hal-01915083,
author = {Parent, Michel and OLLIVIER, EDERN},
title = {Odometric navigation with matching of landscape features},
journal = {HAL},
volume = {2002},
number = {0},
year = {2002},
language = {en},
url = {http://dml.mathdoc.fr/item/hal-01915083}
}
Parent, Michel; OLLIVIER, EDERN. Odometric navigation with matching of landscape features. HAL, Tome 2002 (2002) no. 0, . http://gdmltest.u-ga.fr/item/hal-01915083/