Research on wide range localization for driverless vehicle in outdoor environment based on particle filter

Author

Jing Fu ; Tao Mei ; Hui Zhu ; Huawei Liang ; Biao Yu

Author_Institution

Inst. of Intell. Machines, Hefei, China

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

1669

Lastpage

1673

Abstract

The localization information is the premise of robot autonomous navigation. In this paper, intelligent vehicle is used as a platform for the present study. We perceive motion information and environment signpost information through wheel speed sensor and laser infrared radar SICK respectively, and realize the global localization of the vehicle with the fusion of the particle filter algorithm. The experimental result shows that when the environment signpost position is known, the global positioning error can be less than 1m.

Keywords

intelligent control; mobile robots; motion control; particle filtering (numerical methods); path planning; remotely operated vehicles; sensors; velocity control; wheels; driverless vehicle; environment signpost information; global localization; global positioning error; intelligent vehicle; laser infrared radar SICK; localization information; motion information; outdoor environment; particle filter algorithm; robot autonomous navigation; wheel speed sensor; wide range localization; Mobile robots; Particle filters; Radar tracking; Robot kinematics; Robot sensing systems; Vehicles; SICK; localization; particle filter; signpost;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885951

Filename

6885951