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Title: | A perception system for accurate automatic control of an articulated bus |
Authors: | Salinas, Carlota CSIC ORCID; Montes, Héctor CSIC ORCID; Armada, Manuel CSIC ORCID | Issue Date: | 2010 | Publisher: | World Scientific Publishing | Citation: | Emerging trends in mobile robotics: Proceedings of the 13th International conference of Climbing and Walking Robots and the Support Technologies for Mobile Machines | Series: | CLAWAR 2010 |
Abstract: | This paper describes the perception system for an automatic articulated bus where an accurate tracking trajectory is desired. Among the most promising transport infrastructures of the autonomous or semi-autonomous transportation systems, the articulated bus is an interesting low cost and friendly option. This platform involves a mobile vehicle and a private circuit inside CSIC premises. The perception system, presented in this work, based on 2D laser scanner as a prime sensor generates local terrain maps, where the major concern lies in detecting and tracking a tunnel guide rail built-in the circuit, by using a hybrid-efficient line extraction algorithm and the obstacle detection to guide the vehicle down the lane. | URI: | http://hdl.handle.net/10261/28923 | ISBN: | 13 978-981-4327-97-8 |
Appears in Collections: | (CAR) Comunicaciones congresos |
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a-percepticion.pdf | 788,38 kB | Adobe PDF | ![]() View/Open |
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