@inproceedings{2c06bf7eab8e435b98370f9a8f6a93cc,
title = "Study on GIS's application in driving in the unstructured environment for UGV",
abstract = "For UGV, driving in the unstructured environment safely and quickly without human intervention becomes increasingly important. While many scholars have conducted researches in driving in this case, the results seem quite unsatisfied. In this paper, how to use GIS in aiding the UGV to drive in the unstructured environment is studied. First, GIS is used to process the raw data received from the 3D laser scanner to get the high-resolution gradient and elevation grid, which is used to determine the traversability of the environment. Then the relatively low-resolution gradient grid is used as the cost field in the path planning algorithm to generate the optimal path from the start point to the goal point. At last, an algorithm is introduced to get the reference speed limit from the given optimal path according to the geometry features of the path and the gradient grid. Simulation and experiment results are given to show the effectiveness of the algorithms.",
keywords = "Cost field, Path planning, Speed limit, Traversability, UGV",
author = "Qiangrong Yang and Meiling Wang",
year = "2013",
doi = "10.1007/978-3-642-41908-9_56",
language = "English",
isbn = "9783642419072",
series = "Communications in Computer and Information Science",
publisher = "Springer Verlag",
pages = "553--564",
booktitle = "Geo-Informatics in Resource Management and Sustainable Ecosystem - International Symposium, GRMSE 2013, Proceedings",
address = "Germany",
note = "2013 International Conference on Geo-Informatics in Resource Management and Sustainable Ecosystem, GRMSE 2013 ; Conference date: 08-11-2013 Through 10-11-2013",
}