DocumentCode
2962380
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
Volume
2
fYear
2004
fDate
2004
Firstpage
886
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Networking, Sensing and Control, 2004 IEEE International Conference on
ISSN
1810-7869
Print_ISBN
0-7803-8193-9
Type
conf
DOI
10.1109/ICNSC.2004.1297064
Filename
1297064
Link To Document