NDLI: Laser Scanner-Based Navigation for Commercial Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Stahn, R. Heiserich, G. Stopp, A.
Copyright Year	2007
Description	Author affiliation: DaimlerChrysler AG, Berlin (Stahn, R.; Heiserich, G.; Stopp, A.)
Abstract	In this paper a novel navigation system for commercial vehicles using laser range sensors is presented, which in particular supports backward driving of trucks and truck-trailer combinations in order to approach target objects or target positions precisely and collision-free. The system can be used in an autonomous or a semi-autonomous manner and is aimed to relieve drivers of the stress of maneuvering tasks and to help them avoid damages. A laser range scanner mounted at the rear of the vehicle measures the pose of all objects in the scene. After target selection the system generates a navigable path from the current position to the final target position. During the approach the system tracks the target object using a hierarchical, multi-phase object model and continuously computes the current vehicle pose. It controls the vehicle along the planned path by generating commands for autonomous steering and speed limitation as well as for braking at the final target position and for collision avoidance. The driver only supervises the approach and confirms vehicle motion by using the throttle pedal. For system evaluation a very challenging application example has been implemented which is backward driving under a swap body for picking it up and interchanging it. The prototypical application has been successfully tested with a truck and a truck-trailer combination under varying environmental conditions. The results prove the system's suitability for further applications.
Starting Page	969
Ending Page	974
File Size	1281251
Page Count	6
File Format	PDF
ISBN	1424410673
ISSN	19310587
DOI	10.1109/IVS.2007.4290242
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-13
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Remotely operated vehicles Vehicle driving Sensor systems Stress Layout Target tracking Mobile robots Collision avoidance Prototypes
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Collision avoidance in dynamic environments applied to autonomous vehicle guidance on the motorway

Visual navigation of autonomous on-road vehicle

Sensor and navigation data fusion for an autonomous vehicle

Versatile reactive navigation

Safe Vehicle Navigation in Dynamic Urban Scenarios

Vehicular communication - a candidate technology for traffic safety

ALX: autonomous vehicle guidance for roadway following and obstacle avoidance

Research on navigation system of an autonomous vehicle using RTK-DGPS

Visual navigation along reference lines and collision avoidance for autonomous vehicles

Laser Scanner-Based Navigation for Commercial Vehicles

Similar Documents

Collision avoidance in dynamic environments applied to autonomous vehicle guidance on the motorway

Visual navigation of autonomous on-road vehicle

Sensor and navigation data fusion for an autonomous vehicle

Versatile reactive navigation

Safe Vehicle Navigation in Dynamic Urban Scenarios

Vehicular communication - a candidate technology for traffic safety

ALX: autonomous vehicle guidance for roadway following and obstacle avoidance

Research on navigation system of an autonomous vehicle using RTK-DGPS

Visual navigation along reference lines and collision avoidance for autonomous vehicles

Laser Scanner-Based Navigation for Commercial Vehicles