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Mapless Fully Autonomous Navigation of UGV in Outdoor Evironment

D. Nguyen

Abstract


Recently, there is much research concerning autonomous movements for Unmanned Ground Vehicles (UGVs) in outdoor environments. In general, when a UGV calculates its position with an encoder which is equipped on its tires, the accuracy of its location has errors because of the slipping of the tires. Therefore, location correction using GPS is often done. However, the GPS sometimes is not available. Therefore we proposed to correct these navigation problems by detecting the shoulder in the footways using a laser and a camera. This could permit navigation in cities when GPS was limited and there are encoder errors.

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DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.350

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