Real-time path planning module for autonomous vehicles in cluttered environment using a 3D camera

Q4 Engineering
S. Francis, S. Anavatti, M. Garratt
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引用次数: 6

Abstract

This paper is concerned with the real-time path planning of AGVs in a cluttered environment. In order to perform real-time operations with limited processing resources, an efficient path-planning algorithm and identification of the obstacles by a single sensor are presented. For an AGV, path planning in a cluttered environment is a challenging task owing to its lack of information about the surroundings and its need to re-plan its path quickly whenever it senses obstacles nearby. Therefore, an efficient path-planning algorithm that offers an AGV sufficient time to re-plan its path to avoid moving obstacles is proposed and, to measure its computational efficacy, its time complexity is considered. In real-time experimentation of autonomous path-planning, AGV relies completely on perception system to sense the immediate environment and avoid obstacles when it traverses towards the goal. As the Time-of-Flight (ToF)-based PMD (Photonic Mixer Device) three dimensional (3D) sensor can provide range and intensity data at low computational cost, it is utilised as a single proprioceptive sensor to detect static and dynamic obstacles.
使用3D相机的自动驾驶汽车在杂乱环境中的实时路径规划模块
本文研究了AGV在杂乱环境中的实时路径规划。为了在有限的处理资源下执行实时操作,提出了一种有效的路径规划算法和通过单个传感器识别障碍物。对于AGV来说,在杂乱的环境中进行路径规划是一项具有挑战性的任务,因为它缺乏关于周围环境的信息,并且每当它感觉到附近有障碍物时,就需要快速重新规划路径。因此,提出了一种有效的路径规划算法,该算法为AGV提供了足够的时间来重新规划其路径以避免移动障碍物,并且为了衡量其计算效率,考虑了其时间复杂性。在自主路径规划的实时实验中,AGV完全依靠感知系统来感知周围环境,并在向目标行进时避开障碍物。由于基于飞行时间(ToF)的PMD(光子混合器设备)三维(3D)传感器可以以低计算成本提供范围和强度数据,因此它被用作单个本体感觉传感器来检测静态和动态障碍物。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
International Journal of Vehicle Autonomous Systems
International Journal of Vehicle Autonomous Systems Engineering-Automotive Engineering
CiteScore
1.30
自引率
0.00%
发文量
0
期刊介绍: The IJVAS provides an international forum and refereed reference in the field of vehicle autonomous systems research and development.
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