The following work presents the development of a vehicle positioning function using vehicle mounted lidar sensors of the type Ouster OS1-32 and retroreflective landmarks. The function is developed for the use case of a wheeled mobile driving simulator, which is a mobile robot performing driving maneuvers within a virtually limited circular workspace. Nevertheless, the function is transferable to other applications where a vehicle’s dynamic position on a limitable area is to be determined with high dependability and independently of random environmental features. Based on the specific requirements for the simulator operation, a suitable architecture of landmarks, consisting of retroreflective cylinders, is derived. Then, the software architecture is presented, which mainly relies on a map matching algorithm. In comparison with a DGPS reference system and under artificial perturbation of the lidar-landmark-interaction, the performance and robustness of the function is evaluated on a real prototype. The results show high potential of the developed function for a safety relevant positioning of the vehicle.


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    Title :

    Lidar and Landmark based Localization System for a Wheeled Mobile Driving Simulator


    Contributors:
    Lutwitzi, M. (author) / Betschinske, D. (author) / Albrecht, T. (author) / Winner, H. (author)


    Publication date :

    2022-06-05


    Size :

    3282263 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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