...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE Transactions on Industrial Electronics >OpenStreetMap-Based Autonomous Navigation for the Four Wheel-Legged Robot Via 3D-Lidar and CCD Camera
【24h】

OpenStreetMap-Based Autonomous Navigation for the Four Wheel-Legged Robot Via 3D-Lidar and CCD Camera

机译：OpenStreetMap-Based Autonomous Navigation for the Four Wheel-Legged Robot Via 3D-Lidar and CCD Camera

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相关主题

摘要

OpenStreetMap (OSM) is widely used in outdoor navigation research recently, which is publicly available and can provide a wide range of road information for outdoor robot navigation. In this article, aiming at the problem that the map error of OSM will cause the global path to be inconsistent with the real environment, we propose an OSM-based robot navigation method that combines road network information and local perception information. As a global map, OSM provides road network information to obtain the global path by the Dijkstra algorithm. Multisensor (including 3D-LiDAR and Charge-coupled Device (CCD) camera) information fusion offers local information to detect local road information and obstacles for local path planning. We filter local road information and then extract useful road features to optimize the local path. Finally, this local path is used for robot path tracking to complete navigation tasks. The experimental results show that the average error between the trajectory of the robot and the road center is 0.18 m. This reveals that our method has high navigation accuracy and strong robustness in the real complex environment.

著录项

获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号