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 language | English |
|---|---|
| Title of host publication | 16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 16-21 |
| Number of pages | 6 |
| ISBN (Electronic) | 9783945728017 |
| DOIs | |
| Publication status | Published - Jan 12 2016 |
| Event | 16th IEEE International Conference on Research and Education in Mechatronics, REM 2015 - Bochum, Germany Duration: Nov 18 2015 → Nov 20 2015 |
Other
| Other | 16th IEEE International Conference on Research and Education in Mechatronics, REM 2015 |
|---|---|
| Country | Germany |
| City | Bochum |
| Period | 11/18/15 → 11/20/15 |
Fingerprint
Keywords
- Data fusion
- Real-Time navigation
- Robotics
- UGV
ASJC Scopus subject areas
- Artificial Intelligence
- Electrical and Electronic Engineering
- Mechanical Engineering
- Education
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - An integration framework for UGV outdoor navigation system based on LiDAR and vision data
AU - Saleem, Ashraf
AU - Al Maashri, Ahmed
AU - Khriji, Lazhar
AU - Hussein, Medhat
PY - 2016/1/12
Y1 - 2016/1/12
N2 - 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.
AB - 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.
KW - Data fusion
KW - Real-Time navigation
KW - Robotics
KW - UGV
UR - http://www.scopus.com/inward/record.url?scp=84966560318&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84966560318&partnerID=8YFLogxK
U2 - 10.1109/REM.2015.7380369
DO - 10.1109/REM.2015.7380369
M3 - Conference contribution
AN - SCOPUS:84966560318
SP - 16
EP - 21
BT - 16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
ER -