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http://dx.doi.org/10.5302/J.ICROS.2010.16.7.617

Autonomous Navigation of KUVE (KIST Unmanned Vehicle Electric)  

Chun, Chang-Mook (KIST 인지로봇센터)
Suh, Seung-Beum (KIST 인지로봇센터)
Lee, Sang-Hoon (KIST 인지로봇센터)
Roh, Chi-Won ((주) 유진로봇)
Kang, Sung-Chul (KIST 인지로봇센터)
Kang, Yeon-Sik (국민대학교 자동차공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.7, 2010 , pp. 617-624 More about this Journal
Abstract
This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.
Keywords
autonomous navigation; extended Kalman filter; sensor fusion; road boundary detection; vision; laser intensity;
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