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

Ashraf Saleem; Ahmed Al Maashri; Lazhar Khriji; Medhat Hussein

doi:10.1109/REM.2015.7380369

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

Ashraf Saleem, Ahmed Al Maashri, Lazhar Khriji, Medhat Hussein

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 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 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	https://doi.org/10.1109/REM.2015.7380369
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

Keywords

Data fusion
Real-Time navigation
Robotics
UGV

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering
Mechanical Engineering
Education

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10.1109/REM.2015.7380369

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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 proceeding › Conference 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

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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.",

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

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Keywords

ASJC Scopus subject areas

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