Detection of a drivable environment for UGV using multiple laser sensors

Author

Kim, Jae-Hwan ; Lee, Sang-Hoon ; Kim, Jung-Ha

Author_Institution

Grad. Sch. of Automotive Eng., Kookmin Univ., Seoulz

fYear

2008

Firstpage

590

Lastpage

594

Abstract

This paper describes a system for estimating various driving environments using multiple laser measurement scanners (LMS) which are part of the obstacle estimation system on an unmanned ground vehicle (UGV). An LMS is an important and popular sensor for obstacle and terrain detection on a UGV system. The obstacle and terrain detection system is a critical system for a UGV to reach its final goal point. The obstacle and terrain detection system implemented consists of one processing unit and five laser scanners. In this paper, the UGV system configuration will be introduced and terrain estimation using fused data from all of the laser scanners will be explained.

Keywords

collision avoidance; object detection; optical scanners; remotely operated vehicles; road vehicles; sensor arrays; UGV; driving environments; multiple laser measurement scanners; multiple laser sensors; obstacle estimation system; terrain detection; terrain estimation; unmanned ground vehicle; Automatic control; Automotive engineering; Control systems; Land vehicles; Least squares approximation; Optical control; Roads; Sensor systems; Vehicle detection; Vehicle dynamics; Laser scanner; Obstacle detecting system; Terrain estimation; UGV(Unmanned Ground Vehicle);

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2008. ICCAS 2008. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-9-3

Electronic_ISBN

978-89-93215-01-4

Type

conf

DOI

10.1109/ICCAS.2008.4694571

Filename

4694571