UGV's automated driving navigation and localization in closed areas with pre-established high precision planar map

doi:10.13474/j.cnki.11-2246.2020.0005

Abstract

Abstract: Aiming at the application of UGV automated driving in closed areas,a high precision planar map based navigation and localization method is proposed in this paper. This method establishes multiple resolution grid maps of pre-defined probability with the 3D laser scan, which improves the localization efficiency and insures the map accuracy at the same time. Maximum likelihood estimation is adopted to obtain the initial pose of the carrier, IMU data is used to obtain a reasonable starting value of the carrier's pose for Gauss-Newton search. Field experiment proves it a proper method which efficiently resolves the quick accumulation of scan-scan matching's localization errors that locating with LiDAR scan and the prior map, it's able to provide the carrier's continuous location of high accuracy.

Key words: 3D laser scan, multiple resolution grid map, laser scan matching localization, Gauss-Newton search, navigation and location

CLC Number:

WANG Yiwen, QIAN Chuang, TANG Jian, WEN Jingren, NIU Xiaoji. UGV's automated driving navigation and localization in closed areas with pre-established high precision planar map[J]. Bulletin of Surveying and Mapping, 2020, 0(1): 21-25.

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