Lane-level Path Guiding Method for Unmanned Ground Vehicle
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Qiangrong Yang, Jianyao Hu, Meiling Wang, Huachao Yu and Qi Peng
A lane-level digital map is constructed with multi-sensors to meet the requirements of unmanned ground vehicle for high-precision digital map and the needs to navigate in structured road environment. Based on this lane-level digital map, a lane-level path guiding algorithm is also proposed. First, a lane-level digital map is constructed with the multi-sensor data collected by data collecting platform and the lanes and segments are built according to the traffic rules. Next, different property tables are designed for different geographic elements to represent their characteristics. Then, a global path planning method is proposed according to the characteristic of structured road environment. Finally, a local path planning method is proposed to avoid the obstacles when UGV meets the obstacles. According to the results of on-vehicle experiments and contests for unmanned vehicles, the proposed digital map and path guiding method prove to meet the requirements of unmanned ground vehicles in structured road environment and offer reliable guidance and guarantee for fast and safe driving of unmanned ground vehicles.
Intelligent Robot, Unmanned ground vehicle, Lane-level, Digital map, Path guiding.