Abstract

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

Keywords

• UGV;
• autonomous navigation;
• vehicle model;
• LIDAR;
• map building;
• map matching;
• localization

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Acknowledgement

Grant : 실외환경에 강인한 도로기반 저가형 자율주행기술개발

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