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 |
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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 |
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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