@inproceedings{d1a1c29112d54112897799dc479456b3,
title = "Vehicle autonomous return based on 2D grid map",
abstract = "This paper focuses on the research of autonomous return home for unmanned combat platforms, and proposes an autonomous return home method based on 2D grid maps. In the process of map construction, wheel odometer and IMU information are introduced, and EKF is used to fuse the data of the two. The experiment shows that this method can make the grid map match the actual environment better. In the return home process, based on the created map, a heuristic algorithm is used to plan the global path, and a dynamic window method is used to plan the local path. Finally, an autonomous homing experiment was conducted on the Ackermann steering robot to verify the effectiveness of the proposed autonomous homing method.",
keywords = "SLAM, data fusion, vehicle autonomous return",
author = "Panpan Xie and Zhicheng Wu and Hongbin Ren and Yang Wang",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023 ; Conference date: 18-08-2023 Through 22-08-2023",
year = "2023",
doi = "10.1109/ICIEA58696.2023.10241482",
language = "English",
series = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1803--1808",
editor = "Wenjian Cai and Guilin Yang and Jun Qiu and Tingting Gao and Lijun Jiang and Tianjiang Zheng and Xinli Wang",
booktitle = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
address = "United States",
}