Autonomous ground vehicle navigation method in complex environment

Yi Yang; Mengyin Fu; Xin Yang; Guangming Xiong; J. W. Gong

doi:10.1109/IVS.2010.5547993

Autonomous ground vehicle navigation method in complex environment

Yi Yang^*, Mengyin Fu, Xin Yang, Guangming Xiong, J. W. Gong

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

In this paper, a 3D laser point cloud-based navigation method for autonomous ground vehicles in complex environment is proposed. With a coordinate transformation of laser data from sphere to cylinder, environment perception cylinder is configured. In the cylinder, terrain traversability is predicted through analysis on radial and tangential slope of 3D point cloud. In addition, the candidate point cloud of traversable region has been extracted. Furthermore, navigation circle contained with direction information is built up based on the candidate point cloud. Extended experimental results demonstrate that the method allows autonomous ground vehicle to move safely and correctly in complex environment.

Original language	English
Title of host publication	2010 IEEE Intelligent Vehicles Symposium, IV 2010
Pages	1060-1065
Number of pages	6
DOIs	https://doi.org/10.1109/IVS.2010.5547993
Publication status	Published - 2010
Event	2010 IEEE Intelligent Vehicles Symposium, IV 2010 - La Jolla, CA, United States Duration: 21 Jun 2010 → 24 Jun 2010

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference	2010 IEEE Intelligent Vehicles Symposium, IV 2010
Country/Territory	United States
City	La Jolla, CA
Period	21/06/10 → 24/06/10

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10.1109/IVS.2010.5547993

Cite this

@inproceedings{4a84d1484a0e4bbd99459a2deffef5c1,

title = "Autonomous ground vehicle navigation method in complex environment",

abstract = "In this paper, a 3D laser point cloud-based navigation method for autonomous ground vehicles in complex environment is proposed. With a coordinate transformation of laser data from sphere to cylinder, environment perception cylinder is configured. In the cylinder, terrain traversability is predicted through analysis on radial and tangential slope of 3D point cloud. In addition, the candidate point cloud of traversable region has been extracted. Furthermore, navigation circle contained with direction information is built up based on the candidate point cloud. Extended experimental results demonstrate that the method allows autonomous ground vehicle to move safely and correctly in complex environment.",

author = "Yi Yang and Mengyin Fu and Xin Yang and Guangming Xiong and Gong, {J. W.}",

year = "2010",

doi = "10.1109/IVS.2010.5547993",

language = "English",

isbn = "9781424478668",

series = "IEEE Intelligent Vehicles Symposium, Proceedings",

pages = "1060--1065",

booktitle = "2010 IEEE Intelligent Vehicles Symposium, IV 2010",

note = "2010 IEEE Intelligent Vehicles Symposium, IV 2010 ; Conference date: 21-06-2010 Through 24-06-2010",

}

Yang, Y, Fu, M, Yang, X, Xiong, G & Gong, JW 2010, Autonomous ground vehicle navigation method in complex environment. in 2010 IEEE Intelligent Vehicles Symposium, IV 2010., 5547993, IEEE Intelligent Vehicles Symposium, Proceedings, pp. 1060-1065, 2010 IEEE Intelligent Vehicles Symposium, IV 2010, La Jolla, CA, United States, 21/06/10. https://doi.org/10.1109/IVS.2010.5547993

TY - GEN

T1 - Autonomous ground vehicle navigation method in complex environment

AU - Yang, Yi

AU - Fu, Mengyin

AU - Yang, Xin

AU - Xiong, Guangming

AU - Gong, J. W.

PY - 2010

Y1 - 2010

N2 - In this paper, a 3D laser point cloud-based navigation method for autonomous ground vehicles in complex environment is proposed. With a coordinate transformation of laser data from sphere to cylinder, environment perception cylinder is configured. In the cylinder, terrain traversability is predicted through analysis on radial and tangential slope of 3D point cloud. In addition, the candidate point cloud of traversable region has been extracted. Furthermore, navigation circle contained with direction information is built up based on the candidate point cloud. Extended experimental results demonstrate that the method allows autonomous ground vehicle to move safely and correctly in complex environment.

AB - In this paper, a 3D laser point cloud-based navigation method for autonomous ground vehicles in complex environment is proposed. With a coordinate transformation of laser data from sphere to cylinder, environment perception cylinder is configured. In the cylinder, terrain traversability is predicted through analysis on radial and tangential slope of 3D point cloud. In addition, the candidate point cloud of traversable region has been extracted. Furthermore, navigation circle contained with direction information is built up based on the candidate point cloud. Extended experimental results demonstrate that the method allows autonomous ground vehicle to move safely and correctly in complex environment.

UR - http://www.scopus.com/inward/record.url?scp=77956505704&partnerID=8YFLogxK

U2 - 10.1109/IVS.2010.5547993

DO - 10.1109/IVS.2010.5547993

M3 - Conference contribution

AN - SCOPUS:77956505704

SN - 9781424478668

T3 - IEEE Intelligent Vehicles Symposium, Proceedings

SP - 1060

EP - 1065

BT - 2010 IEEE Intelligent Vehicles Symposium, IV 2010

T2 - 2010 IEEE Intelligent Vehicles Symposium, IV 2010

Y2 - 21 June 2010 through 24 June 2010

ER -

Autonomous ground vehicle navigation method in complex environment

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