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http://dx.doi.org/10.5302/J.ICROS.2011.17.5.451

The Research of Unmanned Autonomous Navigation's Map Matching using Vehicle Model and LIDAR  

Park, Jae-Ung (Kookmin University)
Kim, Jae-Hwan (Kookmin University)
Kim, Jung-Ha (Kookmin University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.5, 2011 , pp. 451-459 More about this Journal
Abstract
Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.
Keywords
UGV; autonomous navigation; vehicle model; LIDAR; map building; map matching; localization;
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Times Cited By KSCI : 3  (Citation Analysis)
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