Research on wide range localization for driverless vehicle in outdoor environment based on particle filter

Jing Fu; Tao Mei; Hui Zhu; Huawei Liang; Biao Yu; IEEE

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Conference proceeding

Research on wide range localization for driverless vehicle in outdoor environment based on particle filter

Jing Fu, Tao Mei, Hui Zhu, Huawei Liang, Biao Yu and IEEE

2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014), pp.1669-1673

01/01/2014

Abstract

Automation & Control Systems

Engineering

Engineering, Electrical & Electronic

Science & Technology

Technology

The localization information is the premise of robot autonomous navigation. In this paper, intelligent vehicle is used as a platform for the present study. We perceive motion information and environment signpost information through wheel speed sensor and laser infrared radar SICK respectively, and realize the global localization of the vehicle with the fusion of the particle filter algorithm. The experimental result shows that when the environment signpost position is known, the global positioning error can be less than 1m.

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Title: Research on wide range localization for driverless vehicle in outdoor environment based on particle filter
Creators - without role: Jing Fu - Institute of Intelligent Machines
Tao Mei - Chinese Acad Sci, Inst Adv Mfg Technol, Changzhou 213000, Peoples R China
Hui Zhu - Chinese Acad Sci, Inst Adv Mfg Technol, Changzhou 213000, Peoples R China
Huawei Liang - Chinese Acad Sci, Inst Adv Mfg Technol, Changzhou 213000, Peoples R China
Biao Yu - Chinese Acad Sci, Inst Adv Mfg Technol, Changzhou 213000, Peoples R China
IEEE
Publication Details: 2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014), pp.1669-1673
Publisher: IEEE
Number of pages: 5
Identifiers: 9945739708331
Academic Unit: King Abdullah University of Science & Technology
Language: English
Resource Type: Conference proceeding