Development of Sensor Component for Terrain Evaluation and Obstacle Detection for an Unmanned Autonomous Vehicle
Development of Sensor Component for Terrain Evaluation and Obstacle Detection for an Unmanned Autonomous Vehicle
复制标题
开发用于无人驾驶车辆地形评估和障碍物检测的传感器组件
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
S. Solanki
中科院分区：
文献类型：
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作者：
S. Solanki
摘要：自动驾驶汽车在国防、农业、采矿和太空探索等各个领域都有应用。为了使自动驾驶汽车成功运行，汽车必须与周围环境进行动态交互。本文介绍了一种传感器组件的开发和实现，以表示自动驾驶汽车周围的环境。环境被建模为一个网格，网格中的每个单元被分配一个可遍历值。障碍物检测和地形评估这两种算法各有其优点和局限性。与其他传感器算法一样，这两种算法的输出也存在一些不确定性。在我的工作中，这些算法融合在一起，以补充它们各自的不确定性和局限性，并且使用确定性因素方法融合了两种算法的输出。
Abstract : Applications of autonomous vehicles are found in various diversified fields including defense, agriculture, mining, and space exploration. For successful operation of an autonomous vehicle, the vehicle has to dynamically interact with the environment around it. This dissertation presents the development and implementation of a sensor component to represent the surrounding environment around an autonomous vehicle. The environment is modeled as a grid and each cell in the grid is assigned a traversability value. Each of the two algorithms, obstacle detection and terrain evaluation, have certain advantages and limitations. Also like any other sensor algorithm, these two algorithms have some uncertainties associated with their outputs. In my work these algorithms are fused together to complement the uncertainties and limitations of each of them, and outputs of the two algorithms are fused using the certainty factors approach.