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
N1 - Publisher Copyright:
© 2015 Deutsche Gesellschaft für Mechatronik.
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
T3 - 16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings
SP - 16
EP - 21
BT - 16th International Conference on Research and Education in Mechatronics, REM 2015 - Proceedings
A2 - Weinert, Albrecht
A2 - Biesenbach, Rolf
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Research and Education in Mechatronics, REM 2015
Y2 - 18 November 2015 through 20 November 2015
ER -