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Jung, Mooyoung
Ulsan National Institute of Science and Technology
Research Interests
  • Manufacturing Systems Engineering
  • Energy Management System - Applications of Fractal Concept

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CAD-MAP AND ESTIMATION OF ALV POSITIONS IN MOUNTAINOUS AREAS

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Title
CAD-MAP AND ESTIMATION OF ALV POSITIONS IN MOUNTAINOUS AREAS
Author
SUH, SHKANG, JKJEE, WSJung, MooyoungKIM, KS
Keywords
AUTONOMOUS LAND VEHICLE;  MOBILE ROBOT NAVIGATION;  COMPUTER MAP;  POSITION ESTIMATION;  PATH PLANNING
Issue Date
1994-07
Publisher
CAMBRIDGE UNIV PRESS
Citation
ROBOTICA, v.12, no.4, pp.287 - 297
Abstract
Position estimation is a key issue for an ALV (Autonomous Land Vehicle) in navigating a mountainous area. The unevenness of the terrain makes mechanical velocity sensors inaccurate (due to wheel slippage), and the lack of appropriate landmarks complicates the problem. In this paper, we present a solution method using features of the skyline. The skyline from the vision system is assumed given, and compared with a computer map, called the CAD-MAP. The algorithm is composed of: a) Identification of the peak points in the camera skyline, b) Computing the ALV position for the identified peak points, and c) Searching for the corresponding peak point in the CAD-MAP. Heuristics for computational efficiency and solution accuracy are also included in the algorithm. To test the validity and effectiveness of the algorithm, numerous simulations were performed and analyzed.
URI
https://scholarworks.unist.ac.kr/handle/201301/5933
ISSN
0263-5747
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