Title :
Simultaneous map-plotting and localization method for unknown driving environment
Author :
Chou, H. ; Traonmilin, M. ; Ollivier, E. ; Parent, M.
Author_Institution :
IMARA, INRIA Rocquencourt, Le Chesnay, France
Abstract :
Localization is a key issue for automatic navigation of autonomous vehicles. In this article, a simultaneous map-plotting and localization method for an autonomous vehicle is proposed. We use a laser detection and ranging sensor to detect the operating environment. An environment map is plot out using the sensor output data. Then, with an odometer, the vehicle position is located on this map. Finally, the two sensor outputs are merged using a Kalman filter to correct the map as well as the vehicle position.
Keywords :
Kalman filters; array signal processing; computerised navigation; laser ranging; road vehicles; sensors; Kalman filter; automatic navigation; autonomous vehicles; laser detection; localization method; map plotting; range sensor; sensor output data; unknown driving environment; vehicle position; Bicycles; Global Positioning System; Mathematical model; Mobile robots; Remotely operated vehicles; Sonar navigation; Stability; Temperature measurement; Vibration measurement; Wheels;
Conference_Titel :
Networking, Sensing and Control, 2004 IEEE International Conference on
Print_ISBN :
0-7803-8193-9
DOI :
10.1109/ICNSC.2004.1297064
