Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Development of a Map Building Algorithm using LADAR for Unmanned Ground Vehicle

레이저 레이다를 이용한 무인차량의 지도생성 알고리즘 개발

  • 이정엽 (한양대학교 메카트로닉스공학과) ;
  • 이상훈 (국민대학교 자동차공학전문대학원) ;
  • 김정하 (국민대학교 기계자동차공학부) ;
  • 한창수 (한양대학교 기계공학과)
  • Published : 2009.12.01
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Abstract

To be high efficient for a navigation of unmanned ground vehicle, it must be able to distinguish between safe and hazardous regions in its immediate environment. We present an advanced method using laser range finder for building global 2D digital maps that include environment information. Laser range finder is used for mapping of obstacles and driving environment in the 2D laser plane. Rotary encoders are used for localization of UGV. The main contributions of this research are the development of an algorithm for global 2D map building and it will turn a UGV navigation based on map matching into a possibility. In this paper, a map building algorithm will be introduced and an assessment of algorithm reliability is judged at an each environment.

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References

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Cited by

  1. Research of Vehicles Longitudinal Adaptive Control using V2I Situated Cognition based on LiDAR for Accident Prone Areas vol.18, pp.5, 2012, https://doi.org/10.5302/J.ICROS.2012.18.5.453