Autonomous Ground Vehicle Path Planning in Urban Environments Using GNSS and Cellular Signals Reliability Maps: Simulation and Experimental Results
Autonomous Ground Vehicle Path Planning in Urban Environments Using GNSS and Cellular Signals Reliability Maps: Simulation and Experimental Results
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DOI：
10.1109/taes.2021.3054684
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发表时间：
2021-08
影响因子：
4.4
通讯作者：
S. Ragothaman;Mahdi Maaref;Z. Kassas
中科院分区：
文献类型：
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作者：
S. Ragothaman;Mahdi Maaref;Z. Kassas
利用全球导航卫星系统（GNSS）信号和蜂窝长期演进（LTE）信号的自主地面车辆（AGV）路径规划的框架进行了评估，通过几个仿真和实验。路径规划的目标是为AGV指定最佳路径，以达到期望的目标点。最优性被定义为最短距离，同时最小化AGV的位置估计误差并保证其位置的不确定性低于期望阈值。路径规划是通过信号可靠性地图规定的，该地图提供了关于由于蜂窝信号多路径或受阻碍的GNSS视线而预期出现大误差的区域的信息。仿真结果表明，利用周围的蜂窝LTE信号与GNSS信号一起1）减少了AGV位置的不确定性，2）增加了可供选择的可行路径的数量，如果出现其他考虑因素（例如，交通堵塞和由于施工造成的道路堵塞），以及3）产生明显更短的可行路径，否则这在单独使用GNSS信号的情况下是不可行的。地面车辆导航在市中心滨江，加利福尼亚州，美国的实验结果，展示了模拟和实验结果之间的密切匹配。
A framework for autonomous ground vehicle (AGV) path planning using global navigation satellite systems (GNSS) signals and cellular long-term evolution (LTE) signals is evaluated through several simulations and experiments. The objective of path planning is to prescribe the optimal path for the AGV to follow to reach a desired target point. Optimality is defined as the shortest distance, while minimizing the AGV's position estimation error and guaranteeing that the uncertainty about its position is below a desired threshold. Path planning is prescribed via signal reliability maps, which provide information about regions where large errors due to cellular signal multipath or obstructed GNSS line-of-sight are expected. Simulation results are presented demonstrating that utilizing ambient cellular LTE signals together with GNSS signals 1) reduces the uncertainty about the AGV's position, 2) increases the number of feasible paths to choose from, which could be useful if other considerations arise (e.g., traffic jams and road blockages due to construction), and 3) yields significantly shorter feasible paths, which would otherwise be infeasible with GNSS signals alone. Experimental results on a ground vehicle navigating in downtown Riverside, CA, USA, are presented demonstrating a close match between the simulated and experimental results.