Actas de congresos
Simulation of an autonomous vehicle with a vision-based navigation system in unstructured terrains using OctoMap
Fecha
2013-11-04Registro en:
Brazilian Symposium on Computing Systems Engineering, III, 2013, Niterói.
9781479938902
2324-7894
Autor
Klaser, Rafael Luiz
Osório, Fernando Santos
Wolf, Denis Fernando
Institución
Resumen
Design and implementation of autonomous vehicles
is a very complex task. One important step on building autonomous
navigation systems is to apply it first on simulations.
We present here a vision-based autonomous navigation approach
in unstructured terrains for a car-like vehicle. We modelled the
vehicle and the scenario in a realistic physics simulation with the
same constraints of a real car and uneven terrain with vegetation.
We use stereo vision to build a navigation cost map grid based
on a probabilistic occupancy space represented by an OctoMap.
The localization is based on GPS and compass integrated with
wheel odometry. A global planning is performed and continuously
updated with the information added to the cost map while
the vehicle moves. In our simulations we could autonomously
navigate the vehicle through obstructed spaces avoiding collisions
and generating feasible trajectories. This system will be validated
in the near future using our autonomous vehicle testing platform
- CaRINA.