Road following plays an important role in ALV autonomous navigation. Vision based method is not robust to different weather, illuminance, road surface condition. In this paper we propose a laser rangefinder-based road following in semi-structural environment. The road edge features are detected and used to deduce the position of road boundary. A filter method is employed to track the parameter of road boundary. It is free of the shadow, bright spot and dirty road surface. Proposed method can perform the road following and obstacle detection simultaneously in day and night. It works well in our ALV equipped with IBEO laser scanner.
Laser rangefinder based road following
2005
5 Seiten, 16 Quellen
Aufsatz (Konferenz)
Englisch
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