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Towards LIDAR-RADAR based Terrain Mapping for Traversability Analysis

Abstract : This paper addresses the problem of perception for autonomous vehicle navigation in real environments. Integrity safe navigation of autonomous vehicles in unknown environments poses a traversability problem. We are interested in the integrity-safe navigation in unknown environments. Safe navigation is a task that depends on the knowledge of the surrounding environment and the vehicle dynamics. Classical navigation approach focus on obstacle avoidance often based on occupancy and elevation maps. We propose bi-modal perception system composed of two sensors: lidar and radar. We combine an optical sensor and an electromagnetic sensor to build a richer map of the environment which will be used for traversability analysis and path planning. The proposed lidar-radar map encodes the geometry of the environment such that traversability analysis and trajectory planning guarantee the robot’s integrity in a stability sense. The algorithm builds a map from lidar, radar, IMU and GPS sensors. Results have been validated experimentally.
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https://hal.archives-ouvertes.fr/hal-01518756
Contributor : Marion Jaud <>
Submitted on : Monday, May 15, 2017 - 8:45:17 AM
Last modification on : Tuesday, June 23, 2020 - 3:40:13 AM
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  • HAL Id : hal-01518756, version 1

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J.A. Guerrero, Marion Jaud, R Lenain, R Rouveure, P Faure. Towards LIDAR-RADAR based Terrain Mapping for Traversability Analysis. 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO 2015), Jul 2015, Lyon, France. ⟨hal-01518756⟩

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