A collaborative navigation system for autonomous vehicle in flat terrain

Abstract

A collaborative navigation framework is proposed for autonomous unmanned ground vehicles, which can generate obstacle-free path and guide the vehicle to its goal rapidly in flat terrain. The framework is composed of some function modules, such as sensors, map, path planner and the controller. It can realize the collaborative control between the autonomous driving mode and the remote artificial intervention mode, so humans are allowed to extend their physical capabilities to the unmanned vehicle in the emergency. Path planner is designed for vehicle dynamic navigation by fusing the global map and SICK laser scanner information. Experimental results show that the proposed framework is efficient and can be used in known or unknown flat terrain.

A review and framework of laser-based collaboration support

“…This system detected and tracked a laser spot projected by the laser range finder. As discussed earlier, laser combined with augmented reality for ; (c) mapping, localization and object detection (Wenjian, Fuchun, Huaping, & Yu, 2009); (d) laser-based communication (Nikulin et al, 2006). Table 1 Survey of laser technologies applied for: (a) collaboration support; and (b) controlled as part of a collaborative system.…”