This paper describes the perception system for an automatic articulated bus where an accurate tracking trajectory is desired. Among the most promising transport infrastructures of the autonomous or semi-autonomous transportation systems, the articulated bus is an interesting low cost and friendly option. This platform involves a mobile vehicle and a private circuit inside CSIC premises. The perception system, presented in this work, based on 2D laser scanner as a prime sensor generates local terrain maps, where the major concern lies in detecting and tracking a tunnel guide rail built-in the circuit, by using a hybrid-efficient line extraction algorithm and the obstacle detection to guide the vehicle down the lane. ; The authors acknowledge partial funding of this research under: Robocity2030-II S2009/DPI-1559 and IMADE PIE/62/2008 (Comunidad de Madrid, ALDESA CONSTRUCCIONES SA, MAXIMASDE); FORTUNA D/026706/09 (Agencia Española de Cooperación Internacional para el Desarrollo, AECID). Dr. Héctor Montes acknowledges support form Universidad Tecnológica de Panamá and from CSIC under grant JAE-Doc. ; Peer reviewed
A perception system for accurate automatic control of an articulated bus
2010-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
A Perception System for Accurate Automatic Control of an Articulated Bus
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