Autonomous Navigation of KUVE (KIST Unmanned Vehicle Electric)

Title
Autonomous Navigation of KUVE (KIST Unmanned Vehicle Electric)
Authors
전창묵서승범이상훈노치원강성철강연식
Keywords
autonomous navigation; extended Kalman filter; sensor fusion; road boundary detection; vision; laser intensity
Issue Date
2010-07
Publisher
제어·로봇·시스템학회논문지 (Journal of Institute of Control, Robotics and Systems Engineering)
Citation
VOL 16, NO 7, 617-624
Abstract
This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.
URI
http://pubs.kist.re.kr/handle/201004/38576
ISSN
1225-9845
Appears in Collections:
KIST Publication > Article
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