A Lidar-Based Decision-Making Method for Road Boundary Detection Using Multiple Kalman Filters

Title
A Lidar-Based Decision-Making Method for Road Boundary Detection Using Multiple Kalman Filters
Authors
Kang, YeonsikRoh, Chiwon서승범Song, Bongsob
Keywords
Curb detection; mobile robot control; outdoor navigation; road boundary detection
Issue Date
2012-11
Publisher
IEEE transactions on industrial electronics
Citation
VOL 59, NO 11, 4360-4368
Abstract
In this paper, a novel decision-making method is proposed for autonomous mobile robot navigation in an urban area where global positioning system (GPS) measurements are unreliable. The proposed method uses lidar measurements of the road’s surface to detect road boundaries. An interacting multiple model method is proposed to determine the existence of a curb based on a probability threshold and to accurately estimate the roadside curb position. The decision outcome is used to determine the source of references suitable for reliable and seamless navigation. The performance of the decision-making algorithm is verified through extensive experiments with a mobile robot autonomously navigating through campus roads with several intersections and unreliable GPS measurements. Our experimental results demonstrate the reliability and good tracking performance of the proposed algorithm for autonomous urban navigation.
URI
http://pubs.kist.re.kr/handle/201004/44408
ISSN
02780046
Appears in Collections:
KIST Publication > Article
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