In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as senso...
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In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-basedrobot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture.
This paper presents a viability study on autonomous car driving in highways using low cost sensors for environment perception. The solution is based on a simple behaviour-based architecture implementing the standard p...
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ISBN:
(纸本)9789728865832
This paper presents a viability study on autonomous car driving in highways using low cost sensors for environment perception. The solution is based on a simple behaviour-based architecture implementing the standard perception-to-action scheme. The perception of the surrounding environment is obtained through the construction of an occupancy grid based on the processing of data from a single video camera and a small number of ultrasound sensors. A finite automaton integrates a set of primitive behaviours defined after the typical human highway driving behaviors. The system was successfully tested in both simulations and in a laboratory environment using a mobile robot to emulate the car-like vehicle. The robot was able to navigate in an autonomous and safe manner, performing trajectories similar to the ones carried out by human drivers. The paper includes results on the perception obtained in a real highway that support the claim that low cost sensing can be effective in this problem.
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