Autonomous navigation of transport robot in the urban environment

Autonomous navigation of transport robot in the urban environment

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global n...

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Hauptverfasser: Jaemin Byun, Sung Hoon Kim, Myung Chan Roh, Junyoung Sung
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Sprache:eng
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Image edge detection
Measurement by laser beam
Navigation
Roads
Robot kinematics
Vehicles
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Sung Hoon Kim
Myung Chan Roh
Junyoung Sung
description This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.
doi_str_mv 10.1109/MMAR.2010.5587262
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subjects Image edge detection
Measurement by laser beam
Navigation
Roads
Robot kinematics
Vehicles
title Autonomous navigation of transport robot in the urban environment
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