An integration framework for UGV outdoor navigation system based on LiDAR and vision data

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we present an architecture to fuse different data from onboard sensors (LiDAR and Camera) for real-Time navigation of Unmanned Ground Vehicle (UGV). The proposed system architecture comprises three main interacting modules; line and obstacle detection module, path planning and tracking module, and a real-Time motor driving processing module. While these modules were developed individually on different platforms, however, the integration framework that we developed allowed these modules to coexist and interact seamlessly. The UGV prototype was put to the test in a variety of outdoor environments, both cluttered and uncluttered, to navigate safely within limited area bounded by lines. While the work on the proposed architecture is ongoing, this paper shows initial results of system platform development, modules integration framework, and real-Time control accuracy and performance.

Original languageEnglish
Title of host publication16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages16-21
Number of pages6
ISBN (Electronic)9783945728017
DOIs
Publication statusPublished - Jan 12 2016
Event16th IEEE International Conference on Research and Education in Mechatronics, REM 2015 - Bochum, Germany
Duration: Nov 18 2015Nov 20 2015

Other

Other16th IEEE International Conference on Research and Education in Mechatronics, REM 2015
CountryGermany
CityBochum
Period11/18/1511/20/15

Fingerprint

Unmanned vehicles
Ground vehicles
Navigation systems
Real time control
Electric fuses
Motion planning
Navigation
Cameras
Sensors
Processing
planning
performance
time

Keywords

  • Data fusion
  • Real-Time navigation
  • Robotics
  • UGV

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Education

Cite this

Saleem, A., Al Maashri, A., Khriji, L., & Hussein, M. (2016). An integration framework for UGV outdoor navigation system based on LiDAR and vision data. In 16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings (pp. 16-21). [7380369] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/REM.2015.7380369

An integration framework for UGV outdoor navigation system based on LiDAR and vision data. / Saleem, Ashraf; Al Maashri, Ahmed; Khriji, Lazhar; Hussein, Medhat.

16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. p. 16-21 7380369.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Saleem, A, Al Maashri, A, Khriji, L & Hussein, M 2016, An integration framework for UGV outdoor navigation system based on LiDAR and vision data. in 16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings., 7380369, Institute of Electrical and Electronics Engineers Inc., pp. 16-21, 16th IEEE International Conference on Research and Education in Mechatronics, REM 2015, Bochum, Germany, 11/18/15. https://doi.org/10.1109/REM.2015.7380369
Saleem A, Al Maashri A, Khriji L, Hussein M. An integration framework for UGV outdoor navigation system based on LiDAR and vision data. In 16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2016. p. 16-21. 7380369 https://doi.org/10.1109/REM.2015.7380369
Saleem, Ashraf ; Al Maashri, Ahmed ; Khriji, Lazhar ; Hussein, Medhat. / An integration framework for UGV outdoor navigation system based on LiDAR and vision data. 16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 16-21
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