A Lidar-Based Decision-Making Method for Road Boundary Detection Using Multiple Kalman Filters
A Lidar-Based Decision-Making Method for Road Boundary Detection Using Multiple Kalman Filters
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DOI：
10.1109/tie.2012.2185013
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发表时间：
2012-11-01
影响因子：
7.7
通讯作者：
Song, Bongsob
中科院分区：
文献类型：
--
作者：
Kang, Yeonsik;Roh, Chiwon;Song, Bongsob
针对全球定位系统(GPS)测量不可靠的城市区域，提出了一种新的自主移动机器人导航决策方法。提出的方法使用激光雷达测量道路表面来检测道路边界。提出了一种基于概率阈值的交互多模型方法来判断路缘的存在，并准确估计路边路缘的位置。决策结果用于确定适合于可靠和无缝导航的参考来源。通过移动机器人在多个十字路口和不可靠的GPS测量中自主导航校园道路的大量实验，验证了决策算法的性能。实验结果表明，该算法具有较高的可靠性和较好的跟踪性能。
In this paper, a novel decision-making method is proposed for autonomous mobile robot navigation in an urban area where global positioning system (GPS) measurements are unreliable. The proposed method uses lidar measurements of the road's surface to detect road boundaries. An interacting multiple model method is proposed to determine the existence of a curb based on a probability threshold and to accurately estimate the roadside curb position. The decision outcome is used to determine the source of references suitable for reliable and seamless navigation. The performance of the decision-making algorithm is verified through extensive experiments with a mobile robot autonomously navigating through campus roads with several intersections and unreliable GPS measurements. Our experimental results demonstrate the reliability and good tracking performance of the proposed algorithm for autonomous urban navigation.