کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
712601 892154 2006 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
FAST POSITION TRACKING OF AN AUTONOMOUS VEHICLE IN CLUTTERED AND DYNAMIC INDOOR ENVIRONMENTS
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
FAST POSITION TRACKING OF AN AUTONOMOUS VEHICLE IN CLUTTERED AND DYNAMIC INDOOR ENVIRONMENTS
چکیده انگلیسی

This paper deals with map-based self-localization in a dynamic environment. In order to detect localization features, laser range finders traditionally scan a horizontal plane: we hypothesize the existence of a “low frequency cross-section” (informally, over people heads), where even highly dynamic environments become more “static” and “regular”. We show that, by accurately choosing the scanning plane, problems related to moving objects, occluded features, etc. are simplified. Experimental results showing hours of continuous work in a real-world scenario, with an accuracy of about 2.5cm and a speed of 0.6m/sec, demonstrate the reliability of the approach.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 39, Issue 15, 2006, Pages 352–357
نویسندگان
, , , ,