2015 Map-building and Planning for Autonomous Navigation in Unstructured Environments

8/9/2019 2015 Map-building and Planning for Autonomous Navigation in Unstructured Environments

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EMOXMR AIR RMUMLREJ LOH LHQLOEMH UX]HKMUIA XJM OLXKIOLF ^IF[XMEJOKE KOUXKX]XM

]OKHLH PLELXMOEIHM^LRXGMOX IA L]XIGLXKE EIOXRIF

Glp-bukfhkoc loh pltj pflookoc airlutioigius olvkcltkio ko uostrueturmh

movkriogmots

H K U U M R X L X K I OUubgkttmh by

Mrkd Plgirl Cgmz

L tjmsks subgkttmh ko tjm aufakffgmot air tjm hmcrmm ia

Hietir ia ^jkfisipjy

Ko tjm spmeklfkzltkio ia

Lutigltke Eiotrif

Lhvksir

Hr. Smo [u Fku

Gxkei, H.A., @loulry, 2>


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EMOXRI HM KOQMUXKCLEKIO [ HM MUX]HKIU LQLOPLHIU HMF KOUXKX]XI ^IFKXMEOKEI OLEKIOLF

]OKHLH PLELXMOEIHM^LRXLGMOXI HM EIOXRIF L]XIGLXKEI

Eiostrueeko hm glpls y pflomleko hmrutls plrl olvmcleko lutoigl mo

lgbkmotms oi mstrueturlhis

X M U K U\um prmsmotl0

Mrkd Plgirl Cgmz

^lrl ibtmomr mf crlhi0

Hietir mo Ekmoekls

Mo fl Mspmeklfkhlh hm

Eiotrif Lutigtkei

Hkrmetir hm fl Xmsks0Hr. Smo [u Fku

Gxkei, H.A. Momri, 2>


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LBUXRLEX

Xjm lutioigius olvkcltkio ia ribits ko uostrueturmh movkriogmots ks l ejlffmocmbmelusm kt rmqukrms l smt ia subsystmgs ti wird ticmtjmr. Kt rmqukrms bukfhkoc l glpia tjm movkriogmot, fielfkzkoc tjm ribit ko tjlt glp, gldkoc l gitkio pfloleeirhkoc ti tjm glp, mxmeutkoc tjlt pflo wktj l eiotriffmr, loh itjmr tlsds4 lff lttjm slgm tkgm. Io tjm itjmr jloh, tjm lutioigius olvkcltkio pribfmg ks vmrykgpirtlot air tjm auturm ia ribitkes. Xjmrm lrm gloy lppfkeltkios tjlt rmqukrm tjkspribfmg ti bm sifvmh, suej ls pledlcm hmfkvmry, efmlokoc, lcrkeufturm, survmkffloem,smlrej & rmseum, eiostruetkio loh trlospirtltkio. Oitm tjlt lff tjmsm lppfkeltkiosieeur ko uostrueturmh movkriogmots. Ko tjks tjmsks, wm try ti sifvm sigm sub-pribfmgs rmfltmh ti lutioigius olvkcltkio ko uostrueturmh movkriogmots.

Air glp-bukfhkoc , wm pripism tjm akrstgmtjih blsmh io mffkpsikhlf smts tjlt elosifvm flrcm-selfm pribfmgs, uofkdm itjmrgmtjihs blsmh io smts. Xjm mrrirs lrmgihmfmh by mffkpsikh smts wktjiutlssugkoc Clussklokty, si wm jlvm girmrmlfkstke mrrir gihmfkoc. Kts pmrairgloemks skgkflr ti, loh ko sigm elsms bmttmr tjlo, tjm gmtjih blsmh io l Dlfglo akftmr.Uigm rmlf mxpmrkgmots sjiw kt ks elplbfm ia bukfhkoc glps kohiirs loh iuthiirs.

Air pflookoc , wm kotrihuem loh stuhy tjmauohlgmotlf eioempts ia Doiwo Uplem, ArmmUplem loh ]odoiwo Uplem Lssugptkios ti hmlfwktj tjm plrtklf ibsmrvlbkfkty ia movkriogmot.Xjmsm lssugptkios lrm ommhmh ti olvkcltm kohyolgke loh uodoiwo movkriogmots. Airhyolgke movkriogmots wm pripism tjm akrst twigmtjihs ti rmeivmr arig alfsm ibstlefms ko tjm glp loh gldm tjm ribit eiotkoumsmlrejkoc air kts cilf. Air uodoiwo movkriogmots wm pripism l gmtjih tiolvkcltm girm maakekmotfy. Sm rlo Giotm Elrfi skgufltkios ti mvlfultm tjm

pmrairgloem ia iur lfcirktjgs. Xjm rmsufts sjiw ko wjkej eiohktkios iur lfcirktjgspmrairg bmttmr loh wirsm.


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LCRLHMEKGKMOXIU

\ukmri lcrlhmemr l fls pmrsiols qum eiotrkbuymrio l fl rmlfkzleko hm mstm trlblìhm kovmstkcleko0

L gks ^lhrms (Kslbmf y Lotioki) pir lpiylr mf kokeki hm gk airglekoekmotakel.

L gk Oivkl (Efluhkl Giotli) pir mf lpiyi girlf plrl mseuejlr gks qum`lshmf priemsi hm cmstleko hm mstl tmsks.

L gk Lsmsir (Smo [u) pir mf lpiyi y fl cul iarmekhl hurlotm mstis 5 lis hmtrlblì hm kovmstkcleko.

L gks lgkcis qum eioie hurlotm mf hietirlhi (@lvkmr, Lrtjur y Lhrko) pirmf lpiyi, fls pftkels m khmls qum eigplrtkgis.

L fl Uiekmhlh Gmxkelol, l trlvs hmf EIOLE[X, pir mf lpiyi meiogkeirmekbkhi hurlotm mf pricrlgl hm mstuhkis y fl mstloekl hmkovmstkcleko rmlfkzlhl mo Brkstif.

L fl ]^KKXL, l trlvs hmf hkrmetir Lrihk R. Elrvlffi, pir fkbmrlrgm hm gksflbirms hiemotms hurlotm 5 lis.

Lf KÔ, l trlvs hmf EIXMBLF, pir hlrgm pmrgksi hm mstuhklr mstmpricrlgl hm hietirlhi.

L fl Lelhmgkl hm Ukstmgls qum gm pmrgktkmrio lusmotlrgm hm gks flbirmshiemotms.

L fis trlbl`lhirms hmf EKOQMUXLQ qum mstuvkmrio kovifuerlhis mo mfhmslrriffi hmf pricrlgl hm mstuhkis0 Fuemri Amroohmz, RibmrtiFlcuoms, @is hm @msus Gmzl, Elrfis Cumrrmri, Mfkzlbmtj Fmo,Iselr Kvo Bumohl, Rlf Giotli, mte. Hkseufpmo sk alftlo lfcuoisoigbrms.

L Slftmrki Glyif Eumvls pir lemptlrgm mo su flbirltirki hm vkskoeigputlekiolf plrl rmlfkzlr uol mstloekl mo Brkstif, Kocfltmrrl.

L Lcusto Girlfms pir mosmlrgm eigi tm fm tmol qum jlemr mo fis omciekis.

Lf ]okvmrsi pir bmohmekrgm.

C R L E K L U!


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Xmomh mo gmotm qum fls eisls glrlvkffi

lprmohmo mo fls mseumfls sio mf trlbl`i cmomrlekioms, prihuekhls pir mf msaumrzi m flbir koakoktl hm tihis fis plsms hmf irbm. piom mo vumstrls glois eigi jmrmoekl plrrmekbks, jiorks, lugmotks y uo hl, eio tih

am, fl trlsplsks l vumstrl hmsemohmoekl. airgl mo qum oisitris fis girtlfms ficrlgikogirtlfkhlh mo fls eisls pmrglomotms qum eigo.

Lfbmrt Mkostmko


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Eiotmots

< Kotrihuetkio 5.2.2 Rmeurskvm lfcirktjg . . . . . . . . . . . . . . . . . . . . . . . . . . . . =85.2.5 Eiovmrcmoem pripmrty ia tjm Mffkpsikhlf UFLG . . . . . . . . . . . . . =5.2.8 Lfcirktjg ia tjm Mffkpsikhlf UFLG . . . . . . . . . . . . . . . . . . . 1>

5.5 Utlbkfkty lolfysks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125.8 Ukgufltkios loh mxpmrkgmots . . . . . . . . . . . . . . . . . . . . . . . . . . . 185.8.< L skgpfm mxlgpfm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185.8.2 Qketirkl lrd hltlsmt . . . . . . . . . . . . . . . . . . . . . . . . . . . 135.8.5 Dilfl gibkfm ribit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1;

5.= Eioefuskio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3=

8 Lutioigius olvkcltkio ko hyolgke loh uodoiwo movkriogmots 33

8.< Kotrihuetkio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338.2 Lolfysks air olvkcltkio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . :8.5.2 Mxpmrkgmots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ;=

8.8 Olvkcltkio ko uodoiwo movkriogmots . . . . . . . . . . . . . . . . . . . . . . 88.8.< Lfcirktjgs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . =8.8.2 Mxpmrkgmots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.= Eioefuskio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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EIOXMOXU kkk

= Eioefuskio


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kv EIOXMOXU


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Fkst ia Akcurms


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vk FKUX IA AKC]RMU

2.= ^ledlcm hmfkvmry 0 qulheiptmr loh stltkio ti privkhm aiih loh gmhkekoms ti

rurlf lrmls4 RibitEiurkmr ti trlospirt substloems loh hieugmots ko jispkt-lfs. Efmlokoc 0 kRiigbl lutioigius vleuug efmlomr4 Lgbricki, lutioig-ius giwmr4 Fmfy Hkseivmry, efmlomr air alrgs. Lcrkeufturm 0 lutioigiuslcrkeufturlf glejkomry. Uurvmkffloem0 Umeig eigploys ribits. . . . . . . . 25

2.1 Umlrej loh Rmseum 0 @lplomsm ribit ti rmtrkmvm pmipfm4 glrktkgm qulheiptmrti gioktir smls4 ribit ti oh pmipfm ko eifflpsmh bukfhkocs. Bukfhkoc 0 rivmrsstledkoc rihs4 qulheiptmrs bukfhkoc eubke strueturms4 gibkfm ribits bukfhkocl sglff tlbfm. Xrlospirtltkio 0 l gkokbus olvkcltms lutioigiusfy4 tjm Dkdl

ribit systmg tjlt jlohfms tjm koputs loh iutputs ia l wlrmjiusm. Cukhkoc^mipfm 0 Rjkoi, iom ia tjm rst ribits tjlt cukhms vksktirs ko l gusmug4 lgirm eurrmot cukhm ribit4 ribitke hic air bfkoh pmipfm. . . . . . . . . . . . . 2=

2.3 Xjks kffustrltms tjm subsystmgs ommhmh ti sifvm tjm wjifm lutioigius olvkc-ltkio pribfmg. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.: Xjm cilf ia tjm UFLGgmtjih ks ti bukfh l eioskstmot glp loh fieltm tjm ribithurkoc kts ìuromy. Ko cmomrlf, UFLG gmtjihs kotmcrltm tjm ibsmrvltkios ia sigm rmamrmoems ko tjm movkriogmot wktj tjm ihigmtry ti rmhuem mrrirs. . . .

2.; Sm eigplrm tjm glko UFLG plrlhkcgs ko tmrgs ia tjmkr elplekty ti sifvmsigm pribfmgs loh tjm typm ia glp tjmy bukfh (+ blh, ++ ciih loh +++vmry ciih). Fiip-efisurm pmrairgloem gmlsurms tjm lbkfkty ti efism tjm fiipwjmo tjm ribit rmvkskts tjm slgm pflem. Xjm wldm-up ribit pribfmg, lfsielffmh cfiblf fielfkzltkio, rmamrs ti l sktultkio wjmrm l ribit ks elrrkmh ti lolrbktrlry fieltkio loh put ti ipmrltkio4 tjm ribit gust fielfkzm ktsmfa wktjiutloy prkir doiwfmhcm. Xjm dkholppmh ribit pribfmg rmamrs ti l sktultkio wjmrml ribit ko ipmrltkio ks elrrkmh ti lo lrbktrlry fieltkio4 tjm ribit gust fielfkzm

ktsmfa, lvikhkoc eioauskios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

5.; Xjm mxpmrkgmot ko lo ist em movkriogmot mqukpmh l gitkio elpturm systmg . 3> dg, aiffiwkoc l glp ia CÛ eiirhkoltms loh uskoc l smt ia flsmrs lohelgmrls ti lvikh tjm ibstlefms io tjm riutm. Xjm ribitke vmjkefms wmrm bukft by uokvmrsktkloh eigplokms, loh tjm hrkvmrfmss elr ejlffmocm wls irclokzmh by HLR L (Hmamosm LhvloemRmsmlrej ^ri`mets Lcmoey ko tjm ]UL). Ko 2>>3, tjmrm wls loitjmr eigpmtktkio, but ko lo

urblo movkriogmot, wjkej ks l jlrhmr ejlffmocm. Xjm vmjkefms jlh ti lvikh erlsjkoc kotielrs, bkdms, loh plvmgmot4 ti mxmeutm hrkvkoc sdkffs suej ls flom ejlocms, ]-turos, plrdkocloh gmrckoc koti givkoc trlst e. Xjm wkoomrs air tjm 2>>= loh 2>>3 ejlffmocms wmrm UtlofmT>) loh jkcj-prmekskioCÛ. Xjus, tjm ]okvmrskty ia Ixairh jls fluoejmh tjm pri`met RibitElr ]D ti rmpflem tjksmxpmoskvm smosir wktj ejmlpmr flsmrs loh elgmrls, uskoc tjm spltklf-vksulf koairgltkio tifielfkzm tjm ribit wktjiut CÛ T5W.


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2.< Lutioigius olvkcltkio


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2.< Lutioigius olvkcltkio


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2> Utltm ia tjm lrt

Akcurm 2.50 Gmxkelo lutioigius ribits

Uystmg), wjism fkemosm ks armm loh suppirts l eioskhmrlbfm ougbmr ia eiggmreklf ribitsRmtjkod Ribitkes smffs Blxtmr, l gloualeturkoc ribit tjlt hims oit rmqukrm l spmeklfkst tieihm tlsds skoem loyiom elo pricrlg kt wktj l arkmohfy crlpjkelf kotmralem loh givkoc ribitlrgs ti kohkeltm tjm tlsd. Girmivmr, ko Cmrgloy, BfumBitkes prihuems loh smffs gibkfmribits wktj lutioigius olvkcltkio systmgs, cukhkoc tiurksts ko ektkms loh gusmugs. Xjmsmlrm sigm mxlgpfms ia jiw tjm ribitkes kohustry givms tiwlrh lutioigy.

Xjm kohustry air lutioigius ribits ks lfgist okf ko Gmxkei. Xjks ks l crmlt ippirtuoktyair kovmstirs loh motrmprmomurs skoem tjm glrdmt ks vkrcko, wlktkoc air sigmiom ti mxp

kt. Xjm eigploy, elffmh 5H Ribitkes, jls hiom tjks4 kt wls eiaiuohmh by l Gmxkelo lohlo Lgmrkelo, loh kt prihuems loh hkstrkbutms uogloomh lmrklf vmjkefms wktj l olvkcltkiosystmg blsmh io C^U. Xjm rmst ia tjm Gmxkelo kohustry smffs ribits loh leemssirkms, ckvmeiursms, loh kostlffs lutigltke ribits air gloualeturkoc.


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2.< Lutioigius olvkcltkio 2 Utltm ia tjm lrt

GlpUFLG

GmtjihIhigmtry

IbsmrvltkiosRibit stltm

Ib`metkvm0 Rmhuem mrrirs

Akcurm 2.:0 Xjm cilf ia tjm UFLG gmtjih ks ti bukfh l eioskstmot glp loh fieltm tjm ribithurkoc kts `iuromy. Ko cmomrlf, UFLG gmtjihs kotmcrltm tjm ibsmrvltkios ia sigm rmamrmoko tjm movkriogmot wktj tjm ihigmtry ti rmhuem mrrirs.


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2.2 UFLG 5

Documents

2015 Map-building and Planning for Autonomous Navigation in Unstructured Environments