NDLI: A novel GIS platform for UGV application in the unknown environment

Content Provider	IEEE Xplore Digital Library
Author	Qiangrong Yang Meiling Wang Mei-po Kwan Yi Yang
Copyright Year	2015
Description	Author affiliation: Dept. of Geogr. & Geographic Inf. Sci., Univ. of Illinois at Urbana Champaign, Champaign, IL, USA (Mei-po Kwan) \|\| Sch. of Autom., Beijing Inst. of Technol., Beijing, China (Qiangrong Yang; Meiling Wang; Yi Yang)
Abstract	Recently, the UGV (Unmanned Ground Vehicle) receives more and more attention from the public with the application in deep space exploration, national defense, and riot relief. Moreover, how to describe the driving environment of UGV with the sensor data objectively and share these data with other UGV efficiently becomes the focus of the research of the UGV. To solve the above problems, a novel GIS platform for UGV application in the unknown environment is proposed in this paper based on the features of UGV. First, the GIS database is redesigned and the properties such as road width, lane number, lane info, and if_traffic are proposed. The data structure of the database is redesigned to fit the need of UGV to describe the environment simply and explicitly. Then a two-line road model is proposed to model the feature of the road network clearly. This model can meet the driving need of UGV and represent the traffic rules of the urban environment. Moreover, the turning path in the intersection is designed to be an arc instead of a right angle path considering the dynamic features of UGV. Finally a cost map for navigating the UGV locally is generated with the road model and the environment information from the sensors. The GIS platform designed in this paper proves to be able to offer guidance and help to UGV for driving through the unknown environment wisely and quickly without human intervention. And it shows promising application of sharing data with other UGV efficiently by using cost map instead of the original sensor data.
Starting Page	1
Ending Page	6
File Size	699991
Page Count	6
File Format	PDF
ISSN	2161024X
e-ISBN	9781467376631
DOI	10.1109/GEOINFORMATICS.2015.7378630
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-19
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	GIS Navigation Data sharing UGV Road model Cost map Robots Vehicles
Content Type	Text
Resource Type	Article
Subject	Geography, Planning and Development Computer Networks and Communications Information Systems Electrical and Electronic Engineering Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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