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General information |
| Author |
Qingyang, Chen; Zhenping, Sun; Daxue, Liu; Yuqiang, Fang; Xiaohui, Li |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
To resolve the local path generating problem for
unmanned ground vehicles (UGV) in unstructured
environments, a method combining a basic path subdivision
method for topological maps of local environments and a
Support Vector Machine (SVM) is proposed in this paper.
Based on the basic path subdivision method, topological
maps of local environments can be extracted with little
expanded nodes, without the constraints of obstacle
representation, so meeting the need for autonomous
navigation in unstructured environments. Next, to optimize
the candidate routes in topological maps and generate a
smoother path, an SVM is introduced. The candidate routes
boundary points are defined as positive and negative
samples, and SVMs are employed to train the separating
surface. An original SVM is extended to satisfy extra
constraints such as vehicle position and heading constraints.
Experimental results show the effectiveness and advantages
of the proposed method. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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