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CAD-MAP and estimation of ALV positions in mountainous areas

Published online by Cambridge University Press:  09 March 2009

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Summary

Position estimation is a key issue for an ALV Autonomous Land Vehicle) in navigating a mountainous area. The unevenness of the terrain makes mechanical velocity sensors inaccurate (due to wheel slippage), and the lack of appropriate landmarks complicates the problem. In this paper, we present a solution method using features of the skyline. The skyline from the vision system is assumed given, and compared with a computer map, called the CAD-MAP. The algorithm is composed of: a) Identification of the peak points in the camera skyline, b) Computing the ALV position for the identified peak points, and c) Searching for the corresponding peak point in the CAD-MAP. Heuristics for computational efficiency and solution accuracy are also included in the algorithm. To test the validity and effectiveness of the algorithm, numerous simulations were performed and analyzed.

Keywords

Autonomous land vehicleMobile robot navigationComputer mapPosition estimationPath planning
Type
Article
Information
Robotica , Volume 12 , Issue 4 , July 1994 , pp. 287 - 297
Copyright
Copyright © Cambridge University Press 1994

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