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A perception system for accurate automatic control of an articulated bus

AuthorsSalinas, Carlota CSIC ORCID; Montes, Héctor CSIC ORCID; Armada, Manuel CSIC ORCID
Issue Date2010
PublisherWorld Scientific Publishing
CitationEmerging trends in mobile robotics: Proceedings of the 13th International conference of Climbing and Walking Robots and the Support Technologies for Mobile Machines
AbstractThis 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.
ISBN13 978-981-4327-97-8
Appears in Collections:(CAR) Comunicaciones congresos

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