NDLI: Detection of a drivable environment for UGV using multiple laser sensors

Content Provider	IEEE Xplore Digital Library
Author	Jae-Hwan Kim Sang-Hoon Lee Jung-Ha Kim
Copyright Year	2008
Description	Author affiliation: Grad. Sch. of Automotive Eng., Kookmin Univ., Seoulz (Jae-Hwan Kim) \|\| Grad. Sch. of Automotive Eng., Kookmin Univ., Seoul (Sang-Hoon Lee) \|\| Dept. of Mech. & Automotive Eng., Kookmin Univ., Seoul (Jung-Ha Kim)
Abstract	This paper describes a system for estimating various driving environments using multiple laser measurement scanners (LMS) which are part of the obstacle estimation system on an unmanned ground vehicle (UGV). An LMS is an important and popular sensor for obstacle and terrain detection on a UGV system. The obstacle and terrain detection system is a critical system for a UGV to reach its final goal point. The obstacle and terrain detection system implemented consists of one processing unit and five laser scanners. In this paper, the UGV system configuration will be introduced and terrain estimation using fused data from all of the laser scanners will be explained.
Starting Page	590
Ending Page	594
File Size	647726
Page Count	5
File Format	PDF
ISBN	9788995003893
DOI	10.1109/ICCAS.2008.4694571
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-10-14
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Roads Control systems Sensor systems Obstacle detecting system Terrain estimation Least squares approximation Vehicle dynamics Automotive engineering Optical control Vehicle detection Automatic control Laser scanner Land vehicles UGV(Unmanned Ground Vehicle)
Content Type	Text
Resource Type	Article

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