UGV autonomous driving system design for unstructed environment

Jingqin Zhang, Jun Hou, Jinwen Hu, Chunhui Zhao, Zhao Xu, Changwei Cheng

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

Autonomous Unmanned Ground Vehicle (UGV) in complex environments is currently a popular research area. Due to the limitation of sensors and abundant environmental information, it is difficult for UGV to obtain their own status and environmental information in real time. This article proposes an autonomous UGV system based on LiDAR and camera in GNSS-denied scenarios. The camera and LiDAR are used to detect various obstacles in the environment separately. Then, we propose an obstacle detection fusion strategy, which eliminates false detection and improves accuracy of target detection. Finally the real-world experiments show that, based on our multi-sensor fusion detection algorithm, UGV can move autonomously and safely in unstructured environment, which consists of convex and concave obstacles.

源语言英语
主期刊名Proceedings of the 40th Chinese Control Conference, CCC 2021
编辑Chen Peng, Jian Sun
出版商IEEE Computer Society
4157-4162
页数6
ISBN(电子版)9789881563804
DOI
出版状态已出版 - 26 7月 2021
活动40th Chinese Control Conference, CCC 2021 - Shanghai, 中国
期限: 26 7月 202128 7月 2021

出版系列

姓名Chinese Control Conference, CCC
2021-July
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议40th Chinese Control Conference, CCC 2021
国家/地区中国
Shanghai
时期26/07/2128/07/21

指纹

探究 'UGV autonomous driving system design for unstructed environment' 的科研主题。它们共同构成独一无二的指纹。

引用此