Abstract
For UGV, driving in the unstructured environment safely and quickly without human intervention becomes increasingly important. While many scholars have conducted researches in driving in this case, the results seem quite unsatisfied. In this paper, how to use GIS in aiding the UGV to drive in the unstructured environment is studied. First, GIS is used to process the raw data received from the 3D laser scanner to get the high-resolution gradient and elevation grid, which is used to determine the traversability of the environment. Then the relatively low-resolution gradient grid is used as the cost field in the path planning algorithm to generate the optimal path from the start point to the goal point. At last, an algorithm is introduced to get the reference speed limit from the given optimal path according to the geometry features of the path and the gradient grid. Simulation and experiment results are given to show the effectiveness of the algorithms.
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Yang, Q., Wang, M. (2013). Study on GIS’s Application in Driving in the Unstructured Environment for UGV. In: Bian, F., Xie, Y., Cui, X., Zeng, Y. (eds) Geo-Informatics in Resource Management and Sustainable Ecosystem. GRMSE 2013. Communications in Computer and Information Science, vol 399. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41908-9_56
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DOI: https://doi.org/10.1007/978-3-642-41908-9_56
Publisher Name: Springer, Berlin, Heidelberg
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