Air-ground cooperative environment modeling with bounded elevation map

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Air-ground cooperative environment modeling with bounded elevation map
	Du WQ(杜文强)1,2 ; Gu F(谷丰); Zhou H(周浩)2 ; Di CL(狄春雷)2; Xiong JF(熊俊峰)2 ; He YQ(何玉庆)2
	2018
会议日期	June 30 - July 6, 2018
会议地点	Cordoba, Granada, And Seville, Spain
关键词	fusion multiple robots cooperation ESMF elevation map the error bound
页码	422-428
英文摘要	UGVs' application are always restrained in complicated environment because of its limited perception ability. One of the solution is cooperation with UAV which has large perception scale. Thus, the fusion of the air-ground perceptive information is the key problem. Focused on this problem, the ESMF based 2.5D elevation modeling method is first proposed for its bound rather than probabilistic information is robust and reliable for path planning of UGVs. In the second, the fast fusion method between air and ground vehicles is designed, which achieve data fusion by updating the perception of UGV with UAV instead of intersecting the two observation sets. In the third the traversability is analyzed based on the elevation model described with bounded information, which shows the robust and reliable of the proposed method. In the last based on two typical limited perception ability: Negative and ultrahigh obstacle an experiment is designed to verify the feasibility and validity of the propose method.
源文献作者	City University of Hongkong ; University of Cordoba ; University of Granada ; University of Seville
产权排序	1
会议录	8th International Conference on Information Science and Technology, ICIST 2018
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-3781-4
WOS记录号	WOS:000502264900067
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/22728]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Du WQ(杜文强)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Du WQ,Gu F,Zhou H,et al. Air-ground cooperative environment modeling with bounded elevation map[C]. 见:. Cordoba, Granada, And Seville, Spain. June 30 - July 6, 2018.