Path selection based on local terrain feature for unmanned ground vehicle in unknown rough terrain environment
Path selection based on local terrain feature for unmanned ground vehicle in unknown rough terrain environment
复制标题
未知崎岖地形环境下基于局部地形特征的无人地面车辆路径选择
DOI：
10.1109/robio.2013.6739759
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Tsuyoshi Kamiya
中科院分区：
文献类型：
--
作者：
M. Kondo;Kenji Sunaga;Yuichi Kobayashi;T. Kaneko;Yuji Hiramatsu;H. Fujii;Tsuyoshi Kamiya
提出了一种基于地形局部特征的无人地面车辆自主导航方法。预先提取从路径获得的局部地形特征与从全局路径规划获得的路径的值之间的相关性。当UGV行驶到某个分支时，利用与局部地形特征的相关性来估计路径值。因此，在未知的室外环境下，UGV导航的路径选择下的最短时间的标准。我们在模拟器上进行了实验，并证实所提出的方法可以选择更有效的路径相比，一个简单的路径选择方法。
In this paper, we propose an autonomous navigation for Unmanned Ground Vehicles (UGVs) by a path selection method based on local features of terrain in unknown outdoor rough terrain environment. The correlation between a local terrain feature obtained from a path and a value of the path obtained from the global path planning is extracted in advance. When UGV comes to a branch while it is running, the value of path is estimated using the correlation with local terrain feature. Thereby, UGV navigation is performed by path selection under the criterion of shortest time in unknown outdoor environment. We experimented on a simulator and confirmed that the proposed method can select more effective paths in comparison with a simple path selection method.
DOI：
10.1109/sii.2010.5708297
发表时间：
2010-12
期刊：
2010 IEEE/SICE International Symposium on System Integration
影响因子：
--
作者：
K. Kurashiki;T. Fukao;Kenji Ishiyama;Tsuyoshi Kamiya;N. Murakami
通讯作者：
K. Kurashiki;T. Fukao;Kenji Ishiyama;Tsuyoshi Kamiya;N. Murakami
影响因子：
8.3
作者：
Thrun, Sebastian;Montemerlo, Mike;Mahoney, Pamela
通讯作者：
Mahoney, Pamela